Limitations of the gravity technique when investigating a possible ground zero

CSIR Research Space (South Africa)

Fourie, CJS

2009-06-01

Full Text Available Technique should be used at a possible ground zero because it is one of the most appropriate Geophysical • Methods to detect cavities, and should produce positive results. It should only be used by an experienced team to guarantee credible results....kashangroup.com ] The Limitations of the Gravity Technique when Investigating a Possible Ground Zero 1CJS FOURIE, 2R MURDIE, 3LR GAYA-PIQUE 1Laboratory for Mining Innovation (LMI), CSIR, PO Box 395, Pretoria, South Africa, sfourie@csir.co.za 2Gold Fields, Australia, St Ives...

Tribology Experiment in Zero Gravity

Science.gov (United States)

Pan, C. H. T.; Gause, R. L.; Whitaker, A. F.; Finckenor, M. M.

2015-01-01

A tribology experiment in zero gravity was performed during the orbital flight of Spacelab 1 to study the motion of liquid lubricants over solid surfaces. The absence of a significant gravitational force facilitates observation of such motions as controlled by interfacial and capillary forces. Two experimental configurations were used. One deals with the liquid on one solid surface, and the other with the liquid between a pair of closed spaced surfaces. Time sequence photographs of fluid motion on a solid surface yielded spreading rate data of several fluid-surface combinations. In general, a slow spreading process as governed by the tertiary junction can be distinguished from a more rapid process which is driven by surface tension controlled internal fluid pressure. Photographs were also taken through the transparent bushings of several experimental journal bearings. Morphology of incomplete fluid films and its fluctuation with time suggest the presence or absence of unsteady phenomena of the bearing-rotor system in various arrangements.

Control method for biped locomotion robots based on ZMP information

International Nuclear Information System (INIS)

Kume, Etsuo

1994-01-01

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

The preferred walk to run transition speed in actual lunar gravity.

Science.gov (United States)

De Witt, John K; Edwards, W Brent; Scott-Pandorf, Melissa M; Norcross, Jason R; Gernhardt, Michael L

2014-09-15

Quantifying the preferred transition speed (PTS) from walking to running has provided insight into the underlying mechanics of locomotion. The dynamic similarity hypothesis suggests that the PTS should occur at the same Froude number across gravitational environments. In normal Earth gravity, the PTS occurs at a Froude number of 0.5 in adult humans, but previous reports found the PTS occurred at Froude numbers greater than 0.5 in simulated lunar gravity. Our purpose was to (1) determine the Froude number at the PTS in actual lunar gravity during parabolic flight and (2) compare it with the Froude number at the PTS in simulated lunar gravity during overhead suspension. We observed that Froude numbers at the PTS in actual lunar gravity (1.39±0.45) and simulated lunar gravity (1.11±0.26) were much greater than 0.5. Froude numbers at the PTS above 1.0 suggest that the use of the inverted pendulum model may not necessarily be valid in actual lunar gravity and that earlier findings in simulated reduced gravity are more accurate than previously thought. © 2014. Published by The Company of Biologists Ltd.

The effects of gravity on human walking: a new test of the dynamic similarity hypothesis using a predictive model.

Science.gov (United States)

Raichlen, David A

2008-09-01

The dynamic similarity hypothesis (DSH) suggests that differences in animal locomotor biomechanics are due mostly to differences in size. According to the DSH, when the ratios of inertial to gravitational forces are equal between two animals that differ in size [e.g. at equal Froude numbers, where Froude = velocity2/(gravity x hip height)], their movements can be made similar by multiplying all time durations by one constant, all forces by a second constant and all linear distances by a third constant. The DSH has been generally supported by numerous comparative studies showing that as inertial forces differ (i.e. differences in the centripetal force acting on the animal due to variation in hip heights), animals walk with dynamic similarity. However, humans walking in simulated reduced gravity do not walk with dynamically similar kinematics. The simulated gravity experiments did not completely account for the effects of gravity on all body segments, and the importance of gravity in the DSH requires further examination. This study uses a kinematic model to predict the effects of gravity on human locomotion, taking into account both the effects of gravitational forces on the upper body and on the limbs. Results show that dynamic similarity is maintained in altered gravitational environments. Thus, the DSH does account for differences in the inertial forces governing locomotion (e.g. differences in hip height) as well as differences in the gravitational forces governing locomotion.

Assessment of zero gravity effects on space worker health and safety

Science.gov (United States)

1980-01-01

One objective of the study is to assess the effects of all currently known deviations from normal of medical, physiological, and biochemical parameters which appear to be due to zero gravity (zero-g) environment and to acceleration and deceleration to be experienced, as outlined in the references Solar Power Satellites (SPS) design, by space worker. Study results include identification of possible health or safety effects on space workers either immediate or delayed due to the zero gravity environment and acceleration and deceleration; estimation of the probability that an individual will be adversely affected; description of the possible consequence to work efficiency in persons adversely affected; and description of the possible/probable consequences to immediate and future health of individuals exposed to this environment. A research plan, which addresses the uncertainties in current knowledge regarding the health and safety hazards to exposed SPS space workers, is presented. Although most adverse affects experienced during space flight soon disappeared upon return to the Earth's environment, there remains a definite concern for the long-term effects to SPS space workers who might spend as much as half their time in space during a possible five year career period. The proposed 90 day up/90 day down cycle, coupled with the fact that most of the effects of weightlessness may persist throughout the flight along with the realization that recovery may occupy much of the terrestrial stay, may keep the SPS workers in a deviant physical condition or state of flux for 60 to 100% of their five year career.

Assessment of zero gravity effects on space worker health and safety

Energy Technology Data Exchange (ETDEWEB)

1980-11-01

One objective of the study is to assess the effects of all currently known deviations from normal of medical, physiological, and biochemical parameters which appear to be due to zero gravity (zero-g) environment and to acceleration and deceleration to be experienced, as outlined in the reference Solar Power Satellite (SPS) design, by space worker. Study results include identification of possible health or safety effects on space workers - either immediate or delayed - due to the zero gravity environment and acceleration and deceleration; estimation of the probability that an individual will be adversely affected; description of the possible consequence to work efficiently in persons adversely affected; and description of the possible/probable consequences to immediate and future health of individuals exposed to this environment. A research plan, which addresses the uncertainties in current knowledge regarding the health and safety hazards to exposed SPS space workers, is presented. Although most adverse affects experienced during space flight soon disappeared upon return to the Earth's environment, there remains a definite concern for the long-term effects to SPS space workers who might spend as much as half their time in space during a possible five-year career period. The proposed 90-day up/90 day down cycle, coupled with the fact that most of the effects of weightlessness may persist throughout the flight along with the realization that recovery may occupy much of the terrestrial stay, may keep the SPS workers in a deviant physical condition or state of flux for 60 to 100% of their five-year career. (JGB)

Simulating Gravity

Science.gov (United States)

Pipinos, Savas

2010-01-01

This article describes one classroom activity in which the author simulates the Newtonian gravity, and employs the Euclidean Geometry with the use of new technologies (NT). The prerequisites for this activity were some knowledge of the formulae for a particle free fall in Physics and most certainly, a good understanding of the notion of similarity…

Internal model of gravity for hand interception: parametric adaptation to zero-gravity visual targets on Earth.

Science.gov (United States)

Zago, Myrka; Lacquaniti, Francesco

2005-08-01

Internal model is a neural mechanism that mimics the dynamics of an object for sensory motor or cognitive functions. Recent research focuses on the issue of whether multiple internal models are learned and switched to cope with a variety of conditions, or single general models are adapted by tuning the parameters. Here we addressed this issue by investigating how the manual interception of a moving target changes with changes of the visual environment. In our paradigm, a virtual target moves vertically downward on a screen with different laws of motion. Subjects are asked to punch a hidden ball that arrives in synchrony with the visual target. By using several different protocols, we systematically found that subjects do not develop a new internal model appropriate for constant speed targets, but they use the default gravity model and reduce the central processing time. The results imply that adaptation to zero-gravity targets involves a compression of temporal processing through the cortical and subcortical regions interconnected with the vestibular cortex, which has previously been shown to be the site of storage of the internal model of gravity.

Testing of a Spray-Bar Zero Gravity Cryogenic Vent System for Upper Stages

Science.gov (United States)

Lak, Tibor; Flachbart, Robin; Nguyen, Han; Martin, James

1999-01-01

The capability to vent in zero gravity without resettling is a fundamental technology need that involves practically all uses of subcritical cryogenics in space. Venting without resettling would extend cryogenic orbital transfer vehicle capabilities. However, the lack of definition regarding liquid/ullage orientation coupled with the somewhat random nature of the thermal stratification and resulting pressure rise rates, lead to significant technical challenges. Typically a zero gravity vent concept, termed a thermodynamic vent system (TVS), consists of a tank mixer to destratify the propellant, combined with a Joule- Thomson (J-T) valve to extract then-nal energy from the propellant. In a cooperative effort, Marshall Space Flight Center's (MSFC's) Multipurpose Hydrogen Test Bed (N4HTB) was used to test a unique "spray bar" TVS system developed by Boeing. A schematic of this system is included in Figure 1. The system consists of a recirculation pump, a parallel flow concentric tube, heat exchanger, and a spray bar positioned close to the longitudinal axis of the tank. In the mixing mode, the recirculation pump withdraws liquid from the tank and sprays it radially into the tank liquid, ullage, and exposed tank surfaces. When energy extraction is required, a small portion of the recirculated liquid is passed sequentially through the J-T expansion valve, the spray bar heat exchanger element, and is vented overboard. The vented vapor cools the circulated bulk fluid, thereby removing thermal energy and reducing tank pressure. Figure 2 is a plot of ullage pressure (P4) and liquid vapor pressure (PSAI) versus time. The pump operates alone, cycling on and off, to destratify the tank liquid and ullage until the liquid vapor pressure reaches the lower set point. At that point, the J-T valve begins to cycle on and off with the pump. Thus, for short duration missions, only the mixer may operate, thus minimizing or even eliminating boil-off losses. The primary advantage of the

Fluid Flow Simulation and Energetic Analysis of Anomalocarididae Locomotion

Science.gov (United States)

Mikel-Stites, Maxwell; Staples, Anne

2014-11-01

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

Centrifuges for Microgravity Simulation. The Reduced Gravity Paradigm

International Nuclear Information System (INIS)

Loon, Jack J. W. A. van

2016-01-01

Due to the cumbersome nature of performing real microgravity—spaceflight research scientists have been searching for alternatives to perform simulated microgravity or partial gravity experiments on Earth. For more than a century one uses the slow rotating clinostat as developed by von Sachs at the end of the nineteenth century. Since then, the fast rotating clinostat, the 3D clinostat or the random positioning machine, the rotating wall vessels, tail suspension and bed rest head down tilt and lately the levitating magnets have been introduced. Several of these simulation systems provide some similarities of the responses and phenotypes as seen in real microgravity experiments. However, one should always realize that we cannot reduce gravity on Earth, other than the relative short duration free fall studies in e.g., drop towers or parabolic aircraft. In this paper we want to explore the possibility to apply centrifuges to simulate microgravity or maybe better to simulate hypo-gravity. This Reduced Gravity Paradigm, RGP is based on the premise that adaptations seen going from a hypergravity level to a lower gravity are similar as changes seen going from unit gravity to microgravity.

Centrifuges for Microgravity Simulation. The Reduced Gravity Paradigm

Energy Technology Data Exchange (ETDEWEB)

Loon, Jack J. W. A. van, E-mail: j.vanloon@vumc.nl [Department of Oral and Maxillofacial Surgery / Oral Pathology, Dutch Experiment Support Center, VU University Medical Center and Academic Centre for Dentistry Amsterdam, Amsterdam (Netherlands); TEC-MMG LIS Lab, European Space Agency Technology Center, Noordwijk (Netherlands)

2016-07-19

Due to the cumbersome nature of performing real microgravity—spaceflight research scientists have been searching for alternatives to perform simulated microgravity or partial gravity experiments on Earth. For more than a century one uses the slow rotating clinostat as developed by von Sachs at the end of the nineteenth century. Since then, the fast rotating clinostat, the 3D clinostat or the random positioning machine, the rotating wall vessels, tail suspension and bed rest head down tilt and lately the levitating magnets have been introduced. Several of these simulation systems provide some similarities of the responses and phenotypes as seen in real microgravity experiments. However, one should always realize that we cannot reduce gravity on Earth, other than the relative short duration free fall studies in e.g., drop towers or parabolic aircraft. In this paper we want to explore the possibility to apply centrifuges to simulate microgravity or maybe better to simulate hypo-gravity. This Reduced Gravity Paradigm, RGP is based on the premise that adaptations seen going from a hypergravity level to a lower gravity are similar as changes seen going from unit gravity to microgravity.

A Spatial-Filtering Zero-Inflated Approach to the Estimation of the Gravity Model of Trade

Directory of Open Access Journals (Sweden)

Rodolfo Metulini

2018-02-01

Full Text Available Nonlinear estimation of the gravity model with Poisson-type regression methods has become popular for modelling international trade flows, because it permits a better accounting for zero flows and extreme values in the distribution tail. Nevertheless, as trade flows are not independent from each other due to spatial and network autocorrelation, these methods may lead to biased parameter estimates. To overcome this problem, eigenvector spatial filtering (ESF variants of the Poisson/negative binomial specifications have been proposed in the literature on gravity modelling of trade. However, no specific treatment has been developed for cases in which many zero flows are present. This paper contributes to the literature in two ways. First, by employing a stepwise selection criterion for spatial filters that is based on robust (sandwich p-values and does not require likelihood-based indicators. In this respect, we develop an ad hoc backward stepwise function in R. Second, using this function, we select a reduced set of spatial filters that properly accounts for importer-side and exporter-side specific spatial effects, as well as network effects, both at the count and the logit processes of zero-inflated methods. Applying this estimation strategy to a cross-section of bilateral trade flows between a set of 64 countries for the year 2000, we find that our specification outperforms the benchmark models in terms of model fitting, both considering the AIC and in predicting zero (and small flows.

Equilibrium shape of (4)He crystal under zero gravity below 200 mK.

Science.gov (United States)

Takahashi, Takuya; Ohuchi, Haruka; Nomura, Ryuji; Okuda, Yuichi

2015-10-01

Equilibrium crystal shape is the lowest energy crystal shape that is hardly realized in ordinary crystals because of their slow relaxation. (4)He quantum crystals in a superfluid have been expected as unique exceptions that grow extremely fast at very low temperatures. However, on the ground, gravity considerably deforms the crystals and conceals the equilibrium crystal shape, and thus, gravity-free environment is needed to observe the equilibrium shape of (4)He. We report the relaxation processes of macroscopic (4)He crystals in a superfluid below 200 mK under zero gravity using a parabolic flight of a jet plane. When gravity was removed from a gravity-flattened (4)He crystal, the crystal rapidly transformed into a shape with flat surfaces. Although the relaxation processes were highly dependent on the initial condition, the crystals relaxed to a nearly homothetic shape in the end, indicating that they were truly in an equilibrium shape minimizing the interfacial free energy. Thanks to the equilibrium shape, we were able to determine the Wulff's origin and the size of the c-facet together with the vicinal surface profile next to the c-facet. The c-facet size was extremely small in the quantum crystals, and the facet-like flat surfaces were found to be the vicinal surfaces. At the same time, the interfacial free energy of the a-facet and s-facet was also obtained.

Calculation of locomotive traction force in transient rolling contact

Directory of Open Access Journals (Sweden)

Voltr P.

2017-06-01

Full Text Available To represent thewheel-rail contact in numerical simulations of rail vehicles, simplified models (Fastsim, Pola´ch etc. are usually employed. These models are designed for steady rolling only, which is perfectly suitable in many cases. However, it is shown to be limiting for simulations at very low vehicle speeds, and therefore it does not actually allow simulation of vehicle running at arbitrarily variable speed. The simplified model of transient rolling, which involves calculation of the stress distribution in the discretised contact area, overcomes this disadvantage but might be unnecessarily complex for more simple simulations. In this paper, an approximative creep force computation method for transient rolling is presented. Its purpose is not to study the transient phenomena themselves but provide a simple and readily available way to prevent incorrect results of the numerical simulation when the vehicle speed approaches zero. The proper function of the proposed method is demonstrated by a simulation of start-up and interrupted sliding of a four-axle locomotive.

Influence of World and Gravity Model Selection on Surface Interacting Vehicle Simulations

Science.gov (United States)

Madden, Michael M.

2007-01-01

A vehicle simulation is surface-interacting if the state of the vehicle (position, velocity, and acceleration) relative to the surface is important. Surface-interacting simulations perform ascent, entry, descent, landing, surface travel, or atmospheric flight. Modeling of gravity is an influential environmental factor for surface-interacting simulations. Gravity is the free-fall acceleration observed from a world-fixed frame that rotates with the world. Thus, gravity is the sum of gravitation and the centrifugal acceleration due to the world s rotation. In surface-interacting simulations, the fidelity of gravity at heights above the surface is more significant than gravity fidelity at locations in inertial space. A surface-interacting simulation cannot treat the gravity model separately from the world model, which simulates the motion and shape of the world. The world model's simulation of the world's rotation, or lack thereof, produces the centrifugal acceleration component of gravity. The world model s reproduction of the world's shape will produce different positions relative to the world center for a given height above the surface. These differences produce variations in the gravitation component of gravity. This paper examines the actual performance of world and gravity/gravitation pairs in a simulation using the Earth.

Binding of alpha-fetoprotein by immobilized monoclonal antibodies during episodes of zero-gravity obtained by parabolic flight

Science.gov (United States)

Spooner, Brian S.; Guikema, James A.; Barnes, Grady

1990-01-01

Alpha-fetoprotein (AFP), a single-chain polypeptide which is synthesized by the liver and yolk sac of the human fetus, provided a model ligand for assessing the effects of microgravity on ligand binding to surface-immobilized model receptor molecules. Monoclonal antibodies, used as receptors for AFP, were immobilized by covalent attachment to latex microparticles. Zero gravity environment was obtained by parabolic flight aboard NASA 930, a modified KC-135 aircraft. Buring the onset of an episode of zero gravity, ligand and receptor were mixed. Timed incubation (20 s) was terminated by centrifugation, the supernatant removed, and microparticies were assessed for bound AFP by immunochemical methods. The extent of binding was not influenced by microgravity, when compared with 1-G controls, which suggests that aberrant cellular activities observed in microgravity are not the simple expression of altered macromolecular interactions.

Simulating spinal border cells and cerebellar granule cells under locomotion--a case study of spinocerebellar information processing.

Directory of Open Access Journals (Sweden)

Anton Spanne

Full Text Available The spinocerebellar systems are essential for the brain in the performance of coordinated movements, but our knowledge about the spinocerebellar interactions is very limited. Recently, several crucial pieces of information have been acquired for the spinal border cell (SBC component of the ventral spinocerebellar tract (VSCT, as well as the effects of SBC mossy fiber activation in granule cells of the cerebellar cortex. SBCs receive monosynaptic input from the reticulospinal tract (RST, which is an important driving system under locomotion, and disynaptic inhibition from Ib muscle afferents. The patterns of activity of RST neurons and Ib afferents under locomotion are known. The activity of VSCT neurons under fictive locomotion, i.e. without sensory feedback, is also known, but there is little information on how these neurons behave under actual locomotion and for cerebellar granule cells receiving SBC input this is completely unknown. But the available information makes it possible to simulate the interactions between the spinal and cerebellar neuronal circuitries with a relatively large set of biological constraints. Using a model of the various neuronal elements and the network they compose, we simulated the modulation of the SBCs and their target granule cells under locomotion and hence generated testable predictions of their general pattern of modulation under this condition. This particular system offers a unique opportunity to simulate these interactions with a limited number of assumptions, which helps making the model biologically plausible. Similar principles of information processing may be expected to apply to all spinocerebellar systems.

Combining Bio-inspired Sensing with Bio-inspired Locomotion

DEFF Research Database (Denmark)

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

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

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

Science.gov (United States)

2010-08-01

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

Prediction models discriminating between nonlocomotive and locomotive activities in children using a triaxial accelerometer with a gravity-removal physical activity classification algorithm.

Science.gov (United States)

Hikihara, Yuki; Tanaka, Chiaki; Oshima, Yoshitake; Ohkawara, Kazunori; Ishikawa-Takata, Kazuko; Tanaka, Shigeho

2014-01-01

The aims of our study were to examine whether a gravity-removal physical activity classification algorithm (GRPACA) is applicable for discrimination between nonlocomotive and locomotive activities for various physical activities (PAs) of children and to prove that this approach improves the estimation accuracy of a prediction model for children using an accelerometer. Japanese children (42 boys and 26 girls) attending primary school were invited to participate in this study. We used a triaxial accelerometer with a sampling interval of 32 Hz and within a measurement range of ±6 G. Participants were asked to perform 6 nonlocomotive and 5 locomotive activities. We measured raw synthetic acceleration with the triaxial accelerometer and monitored oxygen consumption and carbon dioxide production during each activity with the Douglas bag method. In addition, the resting metabolic rate (RMR) was measured with the subject sitting on a chair to calculate metabolic equivalents (METs). When the ratio of unfiltered synthetic acceleration (USA) and filtered synthetic acceleration (FSA) was 1.12, the rate of correct discrimination between nonlocomotive and locomotive activities was excellent, at 99.1% on average. As a result, a strong linear relationship was found for both nonlocomotive (METs = 0.013×synthetic acceleration +1.220, R2 = 0.772) and locomotive (METs = 0.005×synthetic acceleration +0.944, R2 = 0.880) activities, except for climbing down and up. The mean differences between the values predicted by our model and measured METs were -0.50 to 0.23 for moderate to vigorous intensity (>3.5 METs) PAs like running, ball throwing and washing the floor, which were regarded as unpredictable PAs. In addition, the difference was within 0.25 METs for sedentary to mild moderate PAs (model that discriminates between nonlocomotive and locomotive activities for children can be useful to evaluate the sedentary to vigorous PAs intensity of both nonlocomotive and

Muscle Coordination and Locomotion in Humans.

Science.gov (United States)

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

2017-01-01

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

Improving Realism in Reduced Gravity Simulators

Science.gov (United States)

Cowley, Matthew; Harvil, Lauren; Clowers, Kurt; Clark, Timothy; Rajulu, Sudhakar

2010-01-01

Since man was first determined to walk on the moon, simulating the lunar environment became a priority. Providing an accurate reduced gravity environment is crucial for astronaut training and hardware testing. This presentation will follow the development of reduced gravity simulators to a final comparison of environments between the currently used systems. During the Apollo program era, multiple systems were built and tested, with several NASA centers having their own unique device. These systems ranged from marionette-like suspension devices where the subject laid on his side, to pneumatically driven offloading harnesses, to parabolic flights. However, only token comparisons, if any, were made between systems. Parabolic flight allows the entire body to fall at the same rate, giving an excellent simulation of reduced gravity as far as the biomechanics and physical perceptions are concerned. While the effects are accurate, there is limited workspace, limited time, and high cost associated with these tests. With all mechanical offload systems only the parts of the body that are actively offloaded feel any reduced gravity effects. The rest of the body still feels the full effect of gravity. The Partial Gravity System (Pogo) is the current ground-based offload system used to training and testing at the NASA Johnson Space Center. The Pogo is a pneumatic type system that allows for offloaded motion in the z-axis and free movement in the x-axis, but has limited motion in the y-axis. The pneumatic system itself is limited by cylinder stroke length and response time. The Active Response Gravity Offload System (ARGOS) is a next generation groundbased offload system, currently in development, that is based on modern robotic manufacturing lines. This system is projected to provide more z-axis travel and full freedom in both the x and y-axes. Current characterization tests are underway to determine how the ground-based offloading systems perform, how they compare to parabolic

Human Performance in Simulated Reduced Gravity Environments

Science.gov (United States)

Cowley, Matthew; Harvill, Lauren; Rajulu, Sudhakar

2014-01-01

NASA is currently designing a new space suit capable of working in deep space and on Mars. Designing a suit is very difficult and often requires trade-offs between performance, cost, mass, and system complexity. Our current understanding of human performance in reduced gravity in a planetary environment (the moon or Mars) is limited to lunar observations, studies from the Apollo program, and recent suit tests conducted at JSC using reduced gravity simulators. This study will look at our most recent reduced gravity simulations performed on the new Active Response Gravity Offload System (ARGOS) compared to the C-9 reduced gravity plane. Methods: Subjects ambulated in reduced gravity analogs to obtain a baseline for human performance. Subjects were tested in lunar gravity (1.6 m/sq s) and Earth gravity (9.8 m/sq s) in shirt-sleeves. Subjects ambulated over ground at prescribed speeds on the ARGOS, but ambulated at a self-selected speed on the C-9 due to time limitations. Subjects on the ARGOS were given over 3 minutes to acclimate to the different conditions before data was collected. Nine healthy subjects were tested in the ARGOS (6 males, 3 females, 79.5 +/- 15.7 kg), while six subjects were tested on the C-9 (6 males, 78.8 +/- 11.2 kg). Data was collected with an optical motion capture system (Vicon, Oxford, UK) and was analyzed using customized analysis scripts in BodyBuilder (Vicon, Oxford, UK) and MATLAB (MathWorks, Natick, MA, USA). Results: In all offloaded conditions, variation between subjects increased compared to 1-g. Kinematics in the ARGOS at lunar gravity resembled earth gravity ambulation more closely than the C-9 ambulation. Toe-off occurred 10% earlier in both reduced gravity environments compared to earth gravity, shortening the stance phase. Likewise, ankle, knee, and hip angles remained consistently flexed and had reduced peaks compared to earth gravity. Ground reaction forces in lunar gravity (normalized to Earth body weight) were 0.4 +/- 0.2 on

Partial gravity - Human impacts on facility design

Science.gov (United States)

Capps, Stephen; Moore, Nathan

1990-01-01

Partial gravity affects the body differently than earth gravity and microgravity environments. The main difference from earth gravity is human locomotion; while the main dfference from microgravity is the specific updown orientation and reach envelopes which increase volume requirements. Much data are available on earth gravity and microgravity design; however, very little information is available on human reactions to reduced gravity levels in IVA situations (without pressure suits). Therefore, if humans commit to permanent lunar habitation, much research should be conducted in the area of partial gravity effects on habitat design.

Simulation of sediment settling in reduced gravity

Science.gov (United States)

Kuhn, Nikolaus; Kuhn, Brigitte; Rüegg, Hans-Rudolf; Gartmann, Andres

2015-04-01

Gravity has a non-linear effect on the settling velocity of sediment particles in liquids and gases due to the interdependence of settling velocity, drag and friction. However, Stokes' Law or similar empirical models, the common way of estimating the terminal velocity of a particle settling in a gas or liquid, carry the notion of a drag as a property of a particle, rather than a force generated by the flow around the particle. For terrestrial applications, this simplifying assumption is not relevant, but it may strongly influence the terminal velocity achieved by settling particles on other planetary bodies. False estimates of these settling velocities will, in turn, affect the interpretation of particle sizes observed in sedimentary rocks, e.g. on Mars and the search for traces of life. Simulating sediment settling velocities on other planets based on a numeric simulation using Navier-Stokes equations and Computational Fluid Dynamics requires a prohibitive amount of time and lacks measurements to test the quality of the results. The aim of the experiments presented in this study was therefore to quantify the error incurred by using settling velocity models calibrated on Earth at reduced gravities, such as those on the Moon and Mars. In principle, the effect of lower gravity on settling velocity can be achieved by reducing the difference in density between particle and liquid. However, the use of such analogues creates other problems because the properties (i.e. viscosity) and interaction of the liquids and sediment (i.e. flow around the boundary layer between liquid and particle) differ from those of water and mineral particles. An alternative for measuring the actual settling velocities of particles under reduced gravity, on Earth, is offered by placing a settling tube on a reduced gravity flight and conduct settling velocity measurements within the 20 to 25 seconds of Martian gravity that can be simulated during such a flight. In this presentation, the results

Induced gravity and Planck zeros

International Nuclear Information System (INIS)

Khuri, N.N.

1982-01-01

Starting with an asymptotically free gauge theory with dynamical symmetry breaking and a mass hierarchy, we investigate the Adler-Zee formula for the induced gravitational constant. We study the two-point function psi(q 2 ), constructed with the trace of the energy-momentum tensor. First, we show that if the zeros of psi are at a mass scale significantly below the leading scale, then G/sub ind/ - 1 = 0 (m/sub zero/ 2 ) making it impossible to get a realistic G/sub ind/ from the Adler-Zee formula with low-mass zeros. Next we use the Jensen formula to derive a sum rule for Vertical Barm/sub zero/Vertical Bar. The analysis of this sum rule coupled with the result above leads to a dilemma with only one reasonable resolution. To get a realistic G/sub ind/ from the Adler-Zee formula, psi(q 2 ) must have a pair of complex-conjugate zeros at q 2 = M 0 2 +- 2iνM 0 , where M 0 is large and of the maximal scale and ν/M 0 - 1 . It gives a lower bound, which with our previously derived general upper bound gives [π 2 /4(ln10)288] C/sub psi/M 0 2 - 1 2 /288) C/sub psi/M 0 2 , where C/sub psi/ is the anomaly coefficient, a number easily determined by low-order perturbation theory for any group

Maglev Facility for Simulating Variable Gravity

Science.gov (United States)

Liu, Yuanming; Strayer, Donald M.; Israelsson, Ulf E.

2010-01-01

An improved magnetic levitation apparatus ("Maglev Facility") has been built for use in experiments in which there are requirements to impose variable gravity (including zero gravity) in order to assess the effects of gravity or the absence thereof on physical and physiological processes. The apparatus is expected to be especially useful for experiments on the effects of gravity on convection, boiling, and heat transfer in fluids and for experiments on mice to gain understanding of bone loss induced in human astronauts by prolonged exposure to reduced gravity in space flight. The maglev principle employed by the apparatus is well established. Diamagnetic cryogenic fluids such as liquid helium have been magnetically levitated for studying their phase transitions and critical behaviors. Biological entities consist mostly of diamagnetic molecules (e.g., water molecules) and thus can be levitated by use of sufficiently strong magnetic fields having sufficiently strong vertical gradients. The heart of the present maglev apparatus is a vertically oriented superconducting solenoid electromagnet (see figure) that generates a static magnetic field of about 16 T with a vertical gradient sufficient for levitation of water in normal Earth gravity. The electromagnet is enclosed in a Dewar flask having a volume of 100 L that contains liquid helium to maintain superconductivity. The Dewar flask features a 66-mm-diameter warm bore, lying within the bore of the magnet, wherein experiments can be performed at room temperature. The warm bore is accessible from its top and bottom ends. The superconducting electromagnet is run in the persistent mode, in which the supercurrent and the magnetic field can be maintained for weeks with little decay, making this apparatus extremely cost and energy efficient to operate. In addition to water, this apparatus can levitate several common fluids: liquid hydrogen, liquid oxygen, methane, ammonia, sodium, and lithium, all of which are useful

A Dynamic Simulation of Musculoskeletal Function in the Mouse Hindlimb During Trotting Locomotion

Directory of Open Access Journals (Sweden)

James P. Charles

2018-05-01

Full Text Available Mice are often used as animal models of various human neuromuscular diseases, and analysis of these models often requires detailed gait analysis. However, little is known of the dynamics of the mouse musculoskeletal system during locomotion. In this study, we used computer optimization procedures to create a simulation of trotting in a mouse, using a previously developed mouse hindlimb musculoskeletal model in conjunction with new experimental data, allowing muscle forces, activation patterns, and levels of mechanical work to be estimated. Analyzing musculotendon unit (MTU mechanical work throughout the stride allowed a deeper understanding of their respective functions, with the rectus femoris MTU dominating the generation of positive and negative mechanical work during the swing and stance phases. This analysis also tested previous functional inferences of the mouse hindlimb made from anatomical data alone, such as the existence of a proximo-distal gradient of muscle function, thought to reflect adaptations for energy-efficient locomotion. The results do not strongly support the presence of this gradient within the mouse musculoskeletal system, particularly given relatively high negative net work output from the ankle plantarflexor MTUs, although more detailed simulations could test this further. This modeling analysis lays a foundation for future studies of the control of vertebrate movement through the development of neuromechanical simulations.

Physiological targets of artificial gravity: the sensory-motor system

NARCIS (Netherlands)

Groen, E.L.; Clarke, A.; Bles, W.; Wuyts, F.; Paloski, W.; Clément, G.

2007-01-01

This chapter describes the pros and cons of artificial gravity applications in relation to human sensory-motor functioning in space. Spaceflight creates a challenge for sensory-motor functions that depend on gravity, which include postural balance, locomotion, eye-hand coordination, and spatial

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

Directory of Open Access Journals (Sweden)

Takuma Nemoto

2015-04-01

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

Selection of artificial gravity by animals during suborbital rocket flights

Science.gov (United States)

Lange, K. O.; Belleville, R. E.; Clark, F. C.

1975-01-01

White rats selected preferred artificial gravity levels by locomotion in centrifuges consisting of two runways mounted in the nose of sounding rockets. Roll rate of the Aerobee 150A rocket was designed to produce an angular velocity of 45 rpm during 5 min of free-fall, providing a gravity range from 0.3 to 1.5 G depending on a subject's runway position. One animal was released at the high and one at the low gravity position in each flight. Animal positions were continuously recorded. Locomotion patterns during these flights were similar. All four animals explored the entire available G-range. One rat settled at 0.4 G after 2 min; the others crossed the 1-G location in progressively narrower excursions and were near earth gravity at the end of the test period. Tentatively, the data suggest that normal earth-reared rats select earth gravity when available magnitudes include values above and below 1 G. Modification of gravity preference by prolonged exposure to higher or lower levels remains a possibility.

Terrestrial Microgravity Model and Threshold Gravity Simulation sing Magnetic Levitation

Science.gov (United States)

Ramachandran, N.

2005-01-01

What is the threshold gravity (minimum gravity level) required for the nominal functioning of the human system? What dosage is required? Do human cell lines behave differently in microgravity in response to an external stimulus? The critical need for such a gravity simulator is emphasized by recent experiments on human epithelial cells and lymphocytes on the Space Shuttle clearly showing that cell growth and function are markedly different from those observed terrestrially. Those differences are also dramatic between cells grown in space and those in Rotating Wall Vessels (RWV), or NASA bioreactor often used to simulate microgravity, indicating that although morphological growth patterns (three dimensional growth) can be successiblly simulated using RWVs, cell function performance is not reproduced - a critical difference. If cell function is dramatically affected by gravity off-loading, then cell response to stimuli such as radiation, stress, etc. can be very different from terrestrial cell lines. Yet, we have no good gravity simulator for use in study of these phenomena. This represents a profound shortcoming for countermeasures research. We postulate that we can use magnetic levitation of cells and tissue, through the use of strong magnetic fields and field gradients, as a terrestrial microgravity model to study human cells. Specific objectives of the research are: 1. To develop a tried, tested and benchmarked terrestrial microgravity model for cell culture studies; 2. Gravity threshold determination; 3. Dosage (magnitude and duration) of g-level required for nominal functioning of cells; 4. Comparisons of magnetic levitation model to other models such as RWV, hind limb suspension, etc. and 5. Cellular response to reduced gravity levels of Moon and Mars.

Systematic simulations of modified gravity: chameleon models

Energy Technology Data Exchange (ETDEWEB)

Brax, Philippe [Institut de Physique Theorique, CEA, IPhT, CNRS, URA 2306, F-91191Gif/Yvette Cedex (France); Davis, Anne-Christine [DAMTP, Centre for Mathematical Sciences, University of Cambridge, Wilberforce Road, Cambridge CB3 0WA (United Kingdom); Li, Baojiu [Institute for Computational Cosmology, Department of Physics, Durham University, Durham DH1 3LE (United Kingdom); Winther, Hans A. [Institute of Theoretical Astrophysics, University of Oslo, 0315 Oslo (Norway); Zhao, Gong-Bo, E-mail: philippe.brax@cea.fr, E-mail: a.c.davis@damtp.cam.ac.uk, E-mail: baojiu.li@durham.ac.uk, E-mail: h.a.winther@astro.uio.no, E-mail: gong-bo.zhao@port.ac.uk [Institute of Cosmology and Gravitation, University of Portsmouth, Portsmouth PO1 3FX (United Kingdom)

2013-04-01

In this work we systematically study the linear and nonlinear structure formation in chameleon theories of modified gravity, using a generic parameterisation which describes a large class of models using only 4 parameters. For this we have modified the N-body simulation code ecosmog to perform a total of 65 simulations for different models and parameter values, including the default ΛCDM. These simulations enable us to explore a significant portion of the parameter space. We have studied the effects of modified gravity on the matter power spectrum and mass function, and found a rich and interesting phenomenology where the difference with the ΛCDM paradigm cannot be reproduced by a linear analysis even on scales as large as k ∼ 0.05 hMpc{sup −1}, since the latter incorrectly assumes that the modification of gravity depends only on the background matter density. Our results show that the chameleon screening mechanism is significantly more efficient than other mechanisms such as the dilaton and symmetron, especially in high-density regions and at early times, and can serve as a guidance to determine the parts of the chameleon parameter space which are cosmologically interesting and thus merit further studies in the future.

Systematic simulations of modified gravity: chameleon models

International Nuclear Information System (INIS)

Brax, Philippe; Davis, Anne-Christine; Li, Baojiu; Winther, Hans A.; Zhao, Gong-Bo

2013-01-01

In this work we systematically study the linear and nonlinear structure formation in chameleon theories of modified gravity, using a generic parameterisation which describes a large class of models using only 4 parameters. For this we have modified the N-body simulation code ecosmog to perform a total of 65 simulations for different models and parameter values, including the default ΛCDM. These simulations enable us to explore a significant portion of the parameter space. We have studied the effects of modified gravity on the matter power spectrum and mass function, and found a rich and interesting phenomenology where the difference with the ΛCDM paradigm cannot be reproduced by a linear analysis even on scales as large as k ∼ 0.05 hMpc −1 , since the latter incorrectly assumes that the modification of gravity depends only on the background matter density. Our results show that the chameleon screening mechanism is significantly more efficient than other mechanisms such as the dilaton and symmetron, especially in high-density regions and at early times, and can serve as a guidance to determine the parts of the chameleon parameter space which are cosmologically interesting and thus merit further studies in the future

On the Specification of the Gravity Model of Trade: Zeros, Excess Zeros and Zero-Inflated Estimation

NARCIS (Netherlands)

M.J. Burger (Martijn); F.G. van Oort (Frank); G.J.M. Linders (Gert-Jan)

2009-01-01

textabstractConventional studies of bilateral trade patterns specify a log-normal gravity equation for empirical estimation. However, the log-normal gravity equation suffers from three problems: the bias created by the logarithmic transformation, the failure of the homoscedasticity assumption, and

Terrestrial Microgravity Model and Threshold Gravity Simulation using Magnetic Levitation

Science.gov (United States)

Ramachandran, N.

2005-01-01

What is the threshold gravity (minimum gravity level) required for the nominal functioning of the human system? What dosage is required? Do human cell lines behave differently in microgravity in response to an external stimulus? The critical need for such a gravity simulator is emphasized by recent experiments on human epithelial cells and lymphocytes on the Space Shuttle clearly showing that cell growth and function are markedly different from those observed terrestrially. Those differences are also dramatic between cells grown in space and those in Rotating Wall Vessels (RWV), or NASA bioreactor often used to simulate microgravity, indicating that although morphological growth patterns (three dimensional growth) can be successfully simulated using RWVs, cell function performance is not reproduced - a critical difference. If cell function is dramatically affected by gravity off-loading, then cell response to stimuli such as radiation, stress, etc. can be very different from terrestrial cell lines. Yet, we have no good gravity simulator for use in study of these phenomena. This represents a profound shortcoming for countermeasures research. We postulate that we can use magnetic levitation of cells and tissue, through the use of strong magnetic fields and field gradients, as a terrestrial microgravity model to study human cells. Specific objectives of the research are: 1. To develop a tried, tested and benchmarked terrestrial microgravity model for cell culture studies; 2. Gravity threshold determination; 3. Dosage (magnitude and duration) of g-level required for nominal functioning of cells; 4. Comparisons of magnetic levitation model to other models such as RWV, hind limb suspension, etc. and 5. Cellular response to reduced gravity levels of Moon and Mars. The paper will discuss experiments md modeling work to date in support of this project.

GOCE gravity field simulation based on actual mission scenario

Science.gov (United States)

Pail, R.; Goiginger, H.; Mayrhofer, R.; Höck, E.; Schuh, W.-D.; Brockmann, J. M.; Krasbutter, I.; Fecher, T.; Gruber, T.

2009-04-01

In the framework of the ESA-funded project "GOCE High-level Processing Facility", an operational hardware and software system for the scientific processing (Level 1B to Level 2) of GOCE data has been set up by the European GOCE Gravity Consortium EGG-C. One key component of this software system is the processing of a spherical harmonic Earth's gravity field model and the corresponding full variance-covariance matrix from the precise GOCE orbit and calibrated and corrected satellite gravity gradiometry (SGG) data. In the framework of the time-wise approach a combination of several processing strategies for the optimum exploitation of the information content of the GOCE data has been set up: The Quick-Look Gravity Field Analysis is applied to derive a fast diagnosis of the GOCE system performance and to monitor the quality of the input data. In the Core Solver processing a rigorous high-precision solution of the very large normal equation systems is derived by applying parallel processing techniques on a PC cluster. Before the availability of real GOCE data, by means of a realistic numerical case study, which is based on the actual GOCE orbit and mission scenario and simulation data stemming from the most recent ESA end-to-end simulation, the expected GOCE gravity field performance is evaluated. Results from this simulation as well as recently developed features of the software system are presented. Additionally some aspects on data combination with complementary data sources are addressed.

System design of a large fuel cell hybrid locomotive

Science.gov (United States)

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

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

Topological zero modes in Monte Carlo simulations

International Nuclear Information System (INIS)

Dilger, H.

1994-08-01

We present an improvement of global Metropolis updating steps, the instanton hits, used in a hybrid Monte Carlo simulation of the two-flavor Schwinger model with staggered fermions. These hits are designed to change the topological sector of the gauge field. In order to match these hits to an unquenched simulation with pseudofermions, the approximate zero mode structure of the lattice Dirac operator has to be considered explicitly. (orig.)

A strong coupling simulation of Euclidean quantum gravity

International Nuclear Information System (INIS)

Berg, B.; Hamburg Univ.

1984-12-01

Relying on Regge calculus a systematic numerical investigation of models of 4d Euclidean gravity is proposed. The scale a = 1 0 is set by fixing the expectation value of a length. Possible universality of such models is discussed. The strong coupling limit is defined by taking Planck mass msub(p) -> 0 (in units of 1 0 -1 ). The zero order approximation msub(p) = 0 is called 'fluctuating space' and investigated numerically in two 4d models. Canonical dimensions are realized and both models give a negative expectation value for the scalar curvature density. (orig.)

Effects of running with backpack loads during simulated gravitational transitions: Improvements in postural control

Science.gov (United States)

Brewer, Jeffrey David

The National Aeronautics and Space Administration is planning for long-duration manned missions to the Moon and Mars. For feasible long-duration space travel, improvements in exercise countermeasures are necessary to maintain cardiovascular fitness, bone mass throughout the body and the ability to perform coordinated movements in a constant gravitational environment that is six orders of magnitude higher than the "near weightlessness" condition experienced during transit to and/or orbit of the Moon, Mars, and Earth. In such gravitational transitions feedback and feedforward postural control strategies must be recalibrated to ensure optimal locomotion performance. In order to investigate methods of improving postural control adaptation during these gravitational transitions, a treadmill based precision stepping task was developed to reveal changes in neuromuscular control of locomotion following both simulated partial gravity exposure and post-simulation exercise countermeasures designed to speed lower extremity impedance adjustment mechanisms. The exercise countermeasures included a short period of running with or without backpack loads immediately after partial gravity running. A novel suspension type partial gravity simulator incorporating spring balancers and a motor-driven treadmill was developed to facilitate body weight off loading and various gait patterns in both simulated partial and full gravitational environments. Studies have provided evidence that suggests: the environmental simulator constructed for this thesis effort does induce locomotor adaptations following partial gravity running; the precision stepping task may be a helpful test for illuminating these adaptations; and musculoskeletal loading in the form of running with or without backpack loads may improve the locomotor adaptation process.

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

Energy Technology Data Exchange (ETDEWEB)

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

1983-03-01

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

Locomotion of a bioinspired flyer powered by one pair of pitching foils

Science.gov (United States)

Zhang, Xiang; He, Guowei; Wang, Shizhao; Zhang, Xing

2018-01-01

We numerically investigate the flight dynamics and aerodynamics of a two-dimensional model for the jellyfishlike ornithopter recently devised by Ristroph and Childress [L. Ristroph and S. Childress, J. R. Soc. Interface 11, 20130992 (2014), 10.1098/rsif.2013.0992]. This simplified model is composed of two rigid thin foils which are forced to pitch in antiphase fashion. The Navier-Stokes equations for the fluid and the dynamics equations for the flyer are solved together in the simulations. We first consider the constrained-flying condition where the flyer model is only allowed to move in the vertical direction. The influences of the control parameters on the hovering performance are studied. With the variations in parameter values, three different locomotion states, i.e., ascending, descending, and approximate hovering, are identified. The wake structures corresponding to these three locomotion states are explored. It is found that the approximate hovering state cannot persist due to the occurrence of wake symmetry breaking after long-time simulation. We then consider the free-flying condition where the motions in three degrees of freedom are allowed. We study the postural stability of a flyer, with its center of gravity located at the geometric center. The responses of the flyer at different locomotion states to physical and numerical perturbations are examined. Our results show that the ascending state is recoverable after the perturbation. The descending state is irrecoverable after the perturbation and a mixed fluttering and tumbling motion which resembles that of a falling card emerges. The approximate hovering state is also irrecoverable and it eventually transits to the ascending state after the perturbation. The research sheds light on the lift-producing mechanism and stability of the flyer and the results are helpful in guiding the design and optimization of the jellyfishlike flying machine.

Speeding up N-body simulations of modified gravity: chameleon screening models

Science.gov (United States)

Bose, Sownak; Li, Baojiu; Barreira, Alexandre; He, Jian-hua; Hellwing, Wojciech A.; Koyama, Kazuya; Llinares, Claudio; Zhao, Gong-Bo

2017-02-01

We describe and demonstrate the potential of a new and very efficient method for simulating certain classes of modified gravity theories, such as the widely studied f(R) gravity models. High resolution simulations for such models are currently very slow due to the highly nonlinear partial differential equation that needs to be solved exactly to predict the modified gravitational force. This nonlinearity is partly inherent, but is also exacerbated by the specific numerical algorithm used, which employs a variable redefinition to prevent numerical instabilities. The standard Newton-Gauss-Seidel iterative method used to tackle this problem has a poor convergence rate. Our new method not only avoids this, but also allows the discretised equation to be written in a form that is analytically solvable. We show that this new method greatly improves the performance and efficiency of f(R) simulations. For example, a test simulation with 5123 particles in a box of size 512 Mpc/h is now 5 times faster than before, while a Millennium-resolution simulation for f(R) gravity is estimated to be more than 20 times faster than with the old method. Our new implementation will be particularly useful for running very high resolution, large-sized simulations which, to date, are only possible for the standard model, and also makes it feasible to run large numbers of lower resolution simulations for covariance analyses. We hope that the method will bring us to a new era for precision cosmological tests of gravity.

Speeding up N -body simulations of modified gravity: chameleon screening models

International Nuclear Information System (INIS)

Bose, Sownak; Li, Baojiu; He, Jian-hua; Llinares, Claudio; Barreira, Alexandre; Hellwing, Wojciech A.; Koyama, Kazuya; Zhao, Gong-Bo

2017-01-01

We describe and demonstrate the potential of a new and very efficient method for simulating certain classes of modified gravity theories, such as the widely studied f ( R ) gravity models. High resolution simulations for such models are currently very slow due to the highly nonlinear partial differential equation that needs to be solved exactly to predict the modified gravitational force. This nonlinearity is partly inherent, but is also exacerbated by the specific numerical algorithm used, which employs a variable redefinition to prevent numerical instabilities. The standard Newton-Gauss-Seidel iterative method used to tackle this problem has a poor convergence rate. Our new method not only avoids this, but also allows the discretised equation to be written in a form that is analytically solvable. We show that this new method greatly improves the performance and efficiency of f ( R ) simulations. For example, a test simulation with 512 3 particles in a box of size 512 Mpc/ h is now 5 times faster than before, while a Millennium-resolution simulation for f ( R ) gravity is estimated to be more than 20 times faster than with the old method. Our new implementation will be particularly useful for running very high resolution, large-sized simulations which, to date, are only possible for the standard model, and also makes it feasible to run large numbers of lower resolution simulations for covariance analyses. We hope that the method will bring us to a new era for precision cosmological tests of gravity.

Speeding up N -body simulations of modified gravity: chameleon screening models

Energy Technology Data Exchange (ETDEWEB)

Bose, Sownak; Li, Baojiu; He, Jian-hua; Llinares, Claudio [Institute for Computational Cosmology, Department of Physics, Durham University, Durham DH1 3LE (United Kingdom); Barreira, Alexandre [Max-Planck-Institut für Astrophysik, Karl-Schwarzschild-Str. 1, 85741 Garching (Germany); Hellwing, Wojciech A.; Koyama, Kazuya [Institute of Cosmology and Gravitation, University of Portsmouth, Portsmouth PO1 3FX (United Kingdom); Zhao, Gong-Bo, E-mail: sownak.bose@durham.ac.uk, E-mail: baojiu.li@durham.ac.uk, E-mail: barreira@mpa-garching.mpg.de, E-mail: jianhua.he@durham.ac.uk, E-mail: wojciech.hellwing@port.ac.uk, E-mail: kazuya.koyama@port.ac.uk, E-mail: claudio.llinares@durham.ac.uk, E-mail: gbzhao@nao.cas.cn [National Astronomy Observatories, Chinese Academy of Science, Beijing, 100012 (China)

2017-02-01

We describe and demonstrate the potential of a new and very efficient method for simulating certain classes of modified gravity theories, such as the widely studied f ( R ) gravity models. High resolution simulations for such models are currently very slow due to the highly nonlinear partial differential equation that needs to be solved exactly to predict the modified gravitational force. This nonlinearity is partly inherent, but is also exacerbated by the specific numerical algorithm used, which employs a variable redefinition to prevent numerical instabilities. The standard Newton-Gauss-Seidel iterative method used to tackle this problem has a poor convergence rate. Our new method not only avoids this, but also allows the discretised equation to be written in a form that is analytically solvable. We show that this new method greatly improves the performance and efficiency of f ( R ) simulations. For example, a test simulation with 512{sup 3} particles in a box of size 512 Mpc/ h is now 5 times faster than before, while a Millennium-resolution simulation for f ( R ) gravity is estimated to be more than 20 times faster than with the old method. Our new implementation will be particularly useful for running very high resolution, large-sized simulations which, to date, are only possible for the standard model, and also makes it feasible to run large numbers of lower resolution simulations for covariance analyses. We hope that the method will bring us to a new era for precision cosmological tests of gravity.

Planarian regeneration under micro- and hyper-gravity simulated contexts

Science.gov (United States)

Auletta, Gennaro; Van Loon, ing.. Jack J. W. A.; Adell, Teresa; Salo, Emili

collectively and in synchrony to propel the mucus and allow the locomotion. The assembly of ciliary structures could be affected by gravity changes. Our strategy consists in the histological, immunological and transcriptomic analysis of planarians that have completely regenerated head and tail structures under different gravity conditions: earth gravity (1g), micro-gravity (in the random positioning machine) and hyper-gravity (in a large diameter centrifuge, at 4g and 8g). Our data shows that planarians regenerate properly head and tail structures, including the eyes and the brain, in all those conditions. However some differences between the groups could be detected: 1) a slight decrease in the number of mitotic cells is observed in hyper-gravity conditions with respect to normal and micro- gravity conditions; 2) an increase in the number of animals that fissioned the tail, which is a mechanism to reproduce asexually for planarians, was observed in hyper-gravity conditions with respect to the rest; 3) although trunk fragments regenerate head and tail properly, smaller fragments, that is, head or tail pieces, could not regenerate the missing tissues under 8g conditions, and they died. Under 4g conditions they could regenerate but not properly; 4) defects in the density and length of the cilia were observed under micro- and hyper- gravity. A transcriptomic analysis is being conducted with samples from all the groups, with the aim to detect gene categories differentially regulated under micro- and hyper- gravity contexts.

Gribov ambiguity in asymptotically AdS three-dimensional gravity

International Nuclear Information System (INIS)

Anabalon, Andres; Canfora, Fabrizio; Giacomini, Alex; Oliva, Julio

2011-01-01

In this paper the zero modes of the de Donder gauge Faddeev-Popov operator for three-dimensional gravity with negative cosmological constant are analyzed. It is found that the AdS 3 vacuum produces (infinitely many) normalizable smooth zero modes of the Faddeev-Popov operator. On the other hand, it is found that the Banados-Teitelboim-Zanelli black hole (including the zero mass black hole) does not generate zero modes. This differs from the usual Gribov problem in QCD where, close to the maximally symmetric vacuum, the Faddeev-Popov determinant is positive definite while 'far enough' from the vacuum it can vanish. This suggests that the zero mass Banados-Teitelboim-Zanelli black hole could be a suitable ground state of three-dimensional gravity with negative cosmological constant. Because of the kinematic origin of this result, it also applies for other covariant gravity theories in three dimensions with AdS 3 as maximally symmetric solution, such as new massive gravity and topologically massive gravity. The relevance of these results for supersymmetry breaking is pointed out.

Isotropic background for interacting two fluid scenario coupled with zero mass scalar field in modified gravity

International Nuclear Information System (INIS)

Chirde, V.R.; Shekh, S.H.

2016-01-01

The modified theories of gravity have engrossed much attention in the last decade, especially f(R) gravity. In this contextual exploration, we investigate interaction between barotropic fluid and dark energy with zero-mass scalar field for the spatially homogeneous and isotropic flat FRW universe. In this universe, the field equations correspond to the particular choice of f(R) = R+bR m . The exact solutions of the field equations are obtained by applying volumetric power law and exponential law of expansion. In power and exponential law of expansion, the universe shows both matter dominated and DE era for b ≤ 0 and b ≥ 0 and remain present in dark era respectively, but power law model is fully occupying with real matter for b > 0 and for b < 0 exponential model expands with negative pressure and remain present in matter dominated phase respectively. The physical behavior of the universe has been discussed by using some physical quantities

Small-Area Estimation with Zero-Inflated Data – a Simulation Study

Directory of Open Access Journals (Sweden)

Krieg Sabine

2016-12-01

Full Text Available Many target variables in official statistics follow a semicontinuous distribution with a mixture of zeros and continuously distributed positive values. Such variables are called zero inflated. When reliable estimates for subpopulations with small sample sizes are required, model-based small-area estimators can be used, which improve the accuracy of the estimates by borrowing information from other subpopulations. In this article, three small-area estimators are investigated. The first estimator is the EBLUP, which can be considered the most common small-area estimator and is based on a linear mixed model that assumes normal distributions. Therefore, the EBLUP is model misspecified in the case of zero-inflated variables. The other two small-area estimators are based on a model that takes zero inflation explicitly into account. Both the Bayesian and the frequentist approach are considered. These small-area estimators are compared with each other and with design-based estimation in a simulation study with zero-inflated target variables. Both a simulation with artificial data and a simulation with real data from the Dutch Household Budget Survey are carried out. It is found that the small-area estimators improve the accuracy compared to the design-based estimator. The amount of improvement strongly depends on the properties of the population and the subpopulations of interest.

Eye Movement Patterns during Locomotion in Real-World and Simulated Environments

Directory of Open Access Journals (Sweden)

Ming Zhao

2012-05-01

Full Text Available Eye movements in a search-and-count walking task were compared between a simulated (SE and real-world environment (RE. Eye movements were recorded using the mobile WearCam in either RE or the StroMoHab locomotion simulator, a treadmill-based system for gait mobility rehabilitation. For Experiment 1, a RE was prepared with objects (coloured balls and occluding barriers placed along a 38 m long corridor. A video was captured from a walker's viewpoint at 1.3 km/hr. Fifteen subjects per environment reported the total object count after completing a walk while viewing the video in the SE (at 0, 1.3, or 2.5 km/h and RE (at 1.3 km/h. Examining the number of eye transitions (TotET between objects in relation to walking speed in SE, revealed significant increases between 0 and 2.5 km/h (F3, 56 =20.62, p = .02 and 1.3 and 2.5 km/h (F3, 56 =20.62, p = .039, despite no change in video speed; no significant difference was found between 0 and 1.3 km/h. In Experiment 2, 15 subjects viewed a static checkered screen and were instructed to ‘view the screen’ while walking. TotET decreased significantly, between 1.3 km/h and 5.2 km/h (F2, 27 =3.437, p = .014; no significant differences were observed between 2.6 km/h and either 1.3 km/h or 5.2 km/h. In real-world conditions, walking faster increases the difficulty of search tasks, with a likely correlated increase in eye movements. Apparently, the expectation of increased difficulty carries over to SE, even if the visual task is not more difficult. The findings point to physiological and perceptual correlations between locomotion and eye movements.

Zero Gravity Cryogenic Vent System Concepts for Upper Stages

Science.gov (United States)

Ravex, Alain; Flachbart, Robin; Holt, Barney

The capability to vent in zero gravity without resettling is a technology need that involves practically all uses of sub-critical cryogenics in space. Venting without resettling would extend cryogenic orbital transfer vehicle capabilities. However, the lack of definition regarding liquid/ullage orientation coupled with the somewhat random nature of the thermal stratification and resulting pressure rise rates, lead to significant technical challenges. Typically a zero gravity vent concept, termed a thermodynamic vent system (TVS), consists of a tank mixer to destratify the propellant, combined with a Joule-Thomson (J-T) valve to extract thermal energy from the propellant. Marshall Space Flight Center's (MSFC's) Multipurpose Hydrogen Test Bed (MHTB) was used to test both spray bar and axial jet TVS concepts. The axial jet system consists of a recirculation pump heat exchanger unit. The spray bar system consists of a recirculation pump, a parallel flow concentric tube, heat exchanger, and a spray bar positioned close to the longitudinal axis of the tank. The operation of both concepts is similar. In the mixing mode, the recirculation pump withdraws liquid from the tank and sprays it into the tank liquid, ullage, and exposed tank surfaces. When energy extraction is required, a small portion of the recirculated liquid is passed sequentially through the J-T expansion valve, the heat exchanger, and is vented overboard. The vented vapor cools the circulated bulk fluid, thereby removing thermal energy and reducing tank pressure. The pump operates alone, cycling on and off, to destratify the tank liquid and ullage until the liquid vapor pressure reaches the lower set point. At that point, the J-T valve begins to cycle on and off with the pump. Thus, for short duration missions, only the mixer may operate, thus minimizing or even eliminating boil-off losses. TVS performance testing demonstrated that the spray bar was effective in providing tank pressure control within a 6

Towards a general neural controller for quadrupedal locomotion.

Science.gov (United States)

Maufroy, Christophe; Kimura, Hiroshi; Takase, Kunikatsu

2008-05-01

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

Strategy For Implementing The UN "Zero-Gravity Instrument Project" To Promote Space Science Among School Children In Nigeria

Science.gov (United States)

Alabi, O.; Agbaje, G.; Akinyede, J.

2015-12-01

The United Nations "Zero Gravity Instrument Project" (ZGIP) is one of the activities coordinated under the Space Education Outreach Program (SEOP) of the African Regional Centre for Space Science and Technology Education in English (ARCSSTE-E) to popularize space science among pre-collegiate youths in Nigeria. The vision of ZGIP is to promote space education and research in microgravity. This paper will deliberate on the strategy used to implement the ZGIP to introduce school children to authentic scientific data and inquiry. The paper highlights how the students learned to collect scientific data in a laboratory environment, analyzed the data with specialized software, obtained results, interpreted and presented the results of their study in a standard format to the scientific community. About 100 school children, aged between 7 and 21 years, from ten public and private schools located in Osun State, Nigeria participated in the pilot phase of the ZGIP which commenced with a 1-day workshop in March 2014. During the inauguration workshop, the participants were introduced to the environment of outer space, with special emphasis on the concept of microgravity. They were also taught the basic principle of operation of the Clinostat, a Zero-Gravity Instrument donated to ARCSSTE-E by the United Nations Office for Outer Space Affairs (UN-OOSA), Vienna, under the Human Space Technology Initiative (UN-HSTI). At the end of the workshop, each school designed a project, and had a period of 1 week, on a planned time-table, to work in the laboratory of ARCSSTE-E where they utilized the clinostat to examine the germination of indigenous plant seeds in simulated microgravity conditions. The paper also documents the post-laboratory investigation activities, which included presentation of the results in a poster competition and an evaluation of the project. The enthusiasm displayed by the students, coupled with the favorable responses recorded during an oral interview conducted to

Advanced robot locomotion.

Energy Technology Data Exchange (ETDEWEB)

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

2007-01-01

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

Simulation of an aperture-based antihydrogen gravity experiment

Directory of Open Access Journals (Sweden)

C. A. Ordonez

2012-03-01

Full Text Available A Monte Carlo simulation is presented of an experiment that could potentially determine whether antihydrogen accelerates vertically up or down as a result of earth's gravity. The experiment would rely on methods developed by existing antihydrogen research collaborations and would employ a Penning trap for the production of antihydrogen within a uniform magnetic field. The axis of symmetry of the cylindrical trap wall would be oriented horizontally, and an axisymmetric aperture (with an inner radius that is smaller than the cylindrical trap wall radius would be present a short distance away from the antihydrogen production region. Antihydrogen annihilations that occur along the cylindrical trap wall would be detected by the experiment. The distribution of annihilations along the wall would vary near the aperture, because some antihydrogen that would otherwise annihilate at the wall would instead annihilate on the aperture. That is, a shadow region forms behind the aperture, and the distribution of annihilations near the boundary of the shadow region is not azimuthally symmetric when the effect of gravity is significant. The Monte Carlo simulation is used together with analytical modeling to determine conditions under which the annihilation distribution would indicate the direction of the acceleration of antihydrogen due to gravity.

Systematic simulations of modified gravity: symmetron and dilaton models

International Nuclear Information System (INIS)

Brax, Philippe; Davis, Anne-Christine; Li, Baojiu; Winther, Hans A.; Zhao, Gong-Bo

2012-01-01

We study the linear and nonlinear structure formation in the dilaton and symmetron models of modified gravity using a generic parameterisation which describes a large class of scenarios using only a few parameters, such as the coupling between the scalar field and the matter, and the range of the scalar force on very large scales. For this we have modified the N-body simulation code ECOSMOG, which is a variant of RAMSES working in modified gravity scenarios, to perform a set of 110 simulations for different models and parameter values, including the default ΛCDM. These simulations enable us to explore a large portion of the parameter space. We have studied the effects of modified gravity on the matter power spectrum and mass function, and found a rich and interesting phenomenology where the difference with the ΛCDM template cannot be reproduced by a linear analysis even on scales as large as k ∼ 0.05 hMpc −1 . Our results show the full effect of screening on nonlinear structure formation and the associated deviation from ΛCDM. We also investigate how differences in the force mediated by the scalar field in modified gravity models lead to qualitatively different features for the nonlinear power spectrum and the halo mass function, and how varying the individual model parameters changes these observables. The differences are particularly large in the nonlinear power spectra whose shapes for f(R), dilaton and symmetron models vary greatly, and where the characteristic bump around 1 hMpc −1 of f(R) models is preserved for symmetrons, whereas an increase on much smaller scales is particular to symmetrons. No bump is present for dilatons where a flattening of the power spectrum takes place on small scales. These deviations from ΛCDM and the differences between modified gravity models, such as dilatons and symmetrons, could be tested with future surveys

How much gravity is needed to establish the perceptual upright?

Science.gov (United States)

Harris, Laurence R; Herpers, Rainer; Hofhammer, Thomas; Jenkin, Michael

2014-01-01

Might the gravity levels found on other planets and on the moon be sufficient to provide an adequate perception of upright for astronauts? Can the amount of gravity required be predicted from the physiological threshold for linear acceleration? The perception of upright is determined not only by gravity but also visual information when available and assumptions about the orientation of the body. Here, we used a human centrifuge to simulate gravity levels from zero to earth gravity along the long-axis of the body and measured observers' perception of upright using the Oriented Character Recognition Test (OCHART) with and without visual cues arranged to indicate a direction of gravity that differed from the body's long axis. This procedure allowed us to assess the relative contribution of the added gravity in determining the perceptual upright. Control experiments off the centrifuge allowed us to measure the relative contributions of normal gravity, vision, and body orientation for each participant. We found that the influence of 1 g in determining the perceptual upright did not depend on whether the acceleration was created by lying on the centrifuge or by normal gravity. The 50% threshold for centrifuge-simulated gravity's ability to influence the perceptual upright was at around 0.15 g, close to the level of moon gravity but much higher than the threshold for detecting linear acceleration along the long axis of the body. This observation may partially explain the instability of moonwalkers but is good news for future missions to Mars.

Relation between observed locomotion traits and locomotion score in dairy cows

NARCIS (Netherlands)

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

2015-01-01

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

Synthesis of digital locomotive receiver of automatic locomotive signaling

Directory of Open Access Journals (Sweden)

K. V. Goncharov

2013-02-01

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

Spacecraft intercept guidance using zero effort miss steering

Science.gov (United States)

Newman, Brett

The suitability of proportional navigation, or an equivalent zero effort miss formulation, for spacecraft intercepts during midcourse guidance, followed by a ballistic coast to the endgame, is addressed. The problem is formulated in terms of relative motion in a general 3D framework. The proposed guidance law for the commanded thrust vector orientation consists of the sum of two terms: (1) along the line of sight unit direction and (2) along the zero effort miss component perpendicular to the line of sight and proportional to the miss itself and a guidance gain. If the guidance law is to be suitable for longer range targeting applications with significant ballistic coasting after burnout, determination of the zero effort miss must account for the different gravitational accelerations experienced by each vehicle. The proposed miss determination techniques employ approximations for the true differential gravity effect. Theoretical results are applied to a numerical engagement scenario and the resulting performance is evaluated in terms of the miss distances determined from nonlinear simulation.

Gravity wave generation from jets and fronts: idealized and real-case simulations

Science.gov (United States)

Plougonven, Riwal; Arsac, Antonin; Hertzog, Albert; Guez, Lionel; Vial, François

2010-05-01

The generation of gravity waves from jets and fronts remains an outstanding issue in the dynamics of the atmosphere. It is important to explain and quantify this emission because of the several impacts of these waves, in particular the induced momentum fluxes towards the middle atmosphere, and their contribution to turbulence and mixing, e.g. in the region of the tropopause. Yet, the mechanisms at the origin of these waves have been difficult to identify, the fundamental reason for this being the separation between the time scales of balanced motions and gravity waves. Recent simulations of idealized baroclinic life cycles and of dipoles have provided insights into the mechanisms determining the characteristics and the amplitude of gravity waves emitted by jets. It has been shown in particular that the environmental strain and shear play a crucial role in determining the characteristics and location of the emitted waves, emphasizing jet exit regions for the appearance of coherent low-frequency waves. It has also been shown how advection of relatively small-scales allow to overcome the separation of time scales alluded to above. Recent results, remaining open questions and ongoing work on these idealized simulations will be briefly summarized. Nevertheless, unavoidable shortcomings of such idealized simulations include the sensitivity of the emitted waves to model setup (resolution, diffusion, parameterizations) and uncertainty regarding the realism of this aspect of the simulations. Hence, it is necessary to compare simulations with observations in order to assess their relevance. Such comparison has been undertaken using the dataset from the Vorcore campaign (Sept. 2005 - Feb. 2006, Hertzog, J. Atmos. Ocean. Techno. 2007) during which 27 superpressure balloons drifted as quasi-Lagrangian tracers in the lower stratosphere above Antarctica and the Southern Ocean. High-resolution simulations (dx = 20 km) have been carried out using the Weather Research and Forecast

Two-phase computer codes for zero-gravity applications

International Nuclear Information System (INIS)

Krotiuk, W.J.

1986-10-01

This paper discusses the problems existing in the development of computer codes which can analyze the thermal-hydraulic behavior of two-phase fluids especially in low gravity nuclear reactors. The important phenomenon affecting fluid flow and heat transfer in reduced gravity is discussed. The applicability of using existing computer codes for space applications is assessed. Recommendations regarding the use of existing earth based fluid flow and heat transfer correlations are made and deficiencies in these correlations are identified

Failures in sand in reduced gravity environments

Science.gov (United States)

Marshall, Jason P.; Hurley, Ryan C.; Arthur, Dan; Vlahinic, Ivan; Senatore, Carmine; Iagnemma, Karl; Trease, Brian; Andrade, José E.

2018-04-01

The strength of granular materials, specifically sand is important for understanding physical phenomena on other celestial bodies. However, relatively few experiments have been conducted to determine the dependence of strength properties on gravity. In this work, we experimentally investigated relative values of strength (the peak friction angle, the residual friction angle, the angle of repose, and the peak dilatancy angle) in Earth, Martian, Lunar, and near-zero gravity. The various angles were captured in a classical passive Earth pressure experiment conducted on board a reduced gravity flight and analyzed using digital image correlation. The data showed essentially no dependence of the peak friction angle on gravity, a decrease in the residual friction angle between Martian and Lunar gravity, no dependence of the angle of repose on gravity, and an increase in the dilation angle between Martian and Lunar gravity. Additionally, multiple flow surfaces were seen in near-zero gravity. These results highlight the importance of understanding strength and deformation mechanisms of granular materials at different levels of gravity.

Simulation of non-hydrostatic gravity wave propagation in the upper atmosphere

Directory of Open Access Journals (Sweden)

Y. Deng

2014-04-01

Full Text Available The high-frequency and small horizontal scale gravity waves may be reflected and ducted in non-hydrostatic simulations, but usually propagate vertically in hydrostatic models. To examine gravity wave propagation, a preliminary study has been conducted with a global ionosphere–thermosphere model (GITM, which is a non-hydrostatic general circulation model for the upper atmosphere. GITM has been run regionally with a horizontal resolution of 0.2° long × 0.2° lat to resolve the gravity wave with wavelength of 250 km. A cosine wave oscillation with amplitude of 30 m s−1 has been applied to the zonal wind at the low boundary, and both high-frequency and low-frequency waves have been tested. In the high-frequency case, the gravity wave stays below 200 km, which indicates that the wave is reflected or ducted in propagation. The results are consistent with the theoretical analysis from the dispersion relationship when the wavelength is larger than the cutoff wavelength for the non-hydrostatic situation. However, the low-frequency wave propagates to the high altitudes during the whole simulation period, and the amplitude increases with height. This study shows that the non-hydrostatic model successfully reproduces the high-frequency gravity wave dissipation.

Locomotion

DEFF Research Database (Denmark)

Kiehn, Ole; Dougherty, Kimberly

2016-01-01

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

The Study of Geological Structures in Suli and Tulehu Geothermal Regions (Ambon, Indonesia Based on Gravity Gradient Tensor Data Simulation and Analytic Signal

Directory of Open Access Journals (Sweden)

Richard Lewerissa

2017-12-01

Full Text Available In early 2017, the geothermal system in the Suli and Tulehu areas of Ambon (Indonesia was investigated using a gravity gradient tensor and analytic signal. The gravity gradient tensor and analytic signal were obtained through forward modeling based on a rectangular prism. It was applied to complete Bouguer anomaly data over the study area by using Fast Fourier Transform (FFT. The analysis was conducted to enhance the geological structure like faults as a pathway of geothermal fluid circulation that is not visible on the surface because it is covered by sediment. The complete Bouguer anomaly ranges of 93 mGal up to 105 mGal decrease from the southwest in Suli to the northeast in Tulehu. A high gravity anomaly indicates a strong magmatic intrusion below the Suli region. The gravity anomalies decrease occurs in the Eriwakang mountain and most of Tulehu, and it is associated with a coral limestone. The lower gravity anomalies are located in the north to the northeast part of Tulehu are associated with alluvium. The residual anomaly shows that the drill well TLU-01 and geothermal manifestations along with the Banda, and Banda-Hatuasa faults are associated with lowest gravity anomaly (negative zone. The gravity gradient tensor simulation and an analytic signal of Suli and Tulehu give more detailed information about the geological features. The gzz component allows accurate description of the shape structures, especially the Banda fault associated with a zero value. This result will be useful as a geophysical constraint to subsurface modeling according to gravity gradient inversion over the area.

Detecting small gravity change in field measurement: simulations and experiments of the superconducting gravimeter—iGrav

International Nuclear Information System (INIS)

Kao, Ricky; Kabirzadeh, Hojjat; Kim, Jeong Woo; Neumeyer, Juergen; Sideris, Michael G

2014-01-01

In order to detect small gravity changes in field measurements, such as with CO 2  storage, we designed simulations and experiments to validate the capabilities of the iGrav superconducting gravimeter. Qualified data processing was important to obtain the residual gravity from the iGrav's raw gravity signals, without the tidal components, atmosphere, polar motion and hydrological effects. Two simulations and four designed experiments are presented in this study. The first simulation detected the gravity change during CO 2  injection. The residual gravity of CO 2  leakage was targeted with the second simulation from the main storage reservoir to secondary space underground. The designed experiments monitored the situation of gravity anomalies in the iGrav's records. These tests focused on short-term gravity anomalies, such as gravity changes, step functions, repeat observations and gradient measurements from the iGrav, rather than on long-term tidal effects. The four laboratory experiments detected a decrease in gravity of −0.56 ± 0.15 µGal (10 −8  m s −2 ) with a 92.8 kg weight on the top of the iGrav. A step function occurred in the gravity signals, when the tilt control was out of balance. We also used a professional camera dolly with a track to observe repeated horizontal movements and an electric lift table for controlled vertical movements to measure the average gradient of −2.67 ± 0.01 µGal cm −1 . (paper)

Femur-bending properties as influenced by gravity. V - Strength vs. calcium and gravity in rats exposed for 2 weeks

Science.gov (United States)

Wunder, Charles C.; Cook, Kenneth M.; Watkins, Stanley R.; Moressi, William J.

1987-01-01

The dependence of gravitationally related changes in femur bone strength on the comparable changes in calcium content was investigated in rats exposed to chronic simulations of altered gravity from the 28th to 42nd day of age. Zero G was simulated by harness suspension and 3 G by centrifugation. Bone strength (S) was determined by bending (using modified quasi-static cantilever bending methods and equipment described by Wunder et al., 1977 and 1979) and Ca content (C, by mass pct) determined by atomic absorption spectrometry; results were compared with data obtained on both normal and harnessed control animals at 1 G. Multiple regression showed significant dependence of S upon earth's gravity, independent from C, for which there was no significant coefficient of partial regression. It is suggested that the lack of S/C correlation might have been due to the fact that considerable fraction of the calcium in these young, developing bones has not yet crystallized into the hydroxyapatite which provides strength.

Numerical simulations of convectively excited gravity waves

International Nuclear Information System (INIS)

Glatzmaier, G.A.

1983-01-01

Magneto-convection and gravity waves are numerically simulated with a nonlinear, three-dimensional, time-dependent model of a stratified, rotating, spherical fluid shell heated from below. A Solar-like reference state is specified while global velocity, magnetic field, and thermodynamic perturbations are computed from the anelastic magnetohydrodynamic equations. Convective overshooting from the upper (superadiabatic) part of the shell excites gravity waves in the lower (subadiabatic) part. Due to differential rotation and Coriolis forces, convective cell patterns propagate eastward with a latitudinally dependent phase velocity. The structure of the excited wave motions in the stable region is more time-dependent than that of the convective motions above. The magnetic field tends to be concentrated over giant-cell downdrafts in the convective zone but is affected very little by the wave motion in the stable region

A survey report for the turning of biped locomotion robot

International Nuclear Information System (INIS)

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

1992-12-01

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

Computer simulations of 3d Lorentzian quantum gravity

NARCIS (Netherlands)

Ambjørn, J.; Jurkiewicz, J.; Loll, R.

2000-01-01

We investigate the phase diagram of non-perturbative three-dimensional Lorentzian quantum gravity with the help of Monte Carlo simulations. The system has a first-order phase transition at a critical value kc 0 of the bare inverse gravitational coupling constant k0. For k0 > kc0 the system

Calibration of a rotating accelerometer gravity gradiometer using centrifugal gradients

Science.gov (United States)

Yu, Mingbiao; Cai, Tijing

2018-05-01

The purpose of this study is to calibrate scale factors and equivalent zero biases of a rotating accelerometer gravity gradiometer (RAGG). We calibrate scale factors by determining the relationship between the centrifugal gradient excitation and RAGG response. Compared with calibration by changing the gravitational gradient excitation, this method does not need test masses and is easier to implement. The equivalent zero biases are superpositions of self-gradients and the intrinsic zero biases of the RAGG. A self-gradient is the gravitational gradient produced by surrounding masses, and it correlates well with the RAGG attitude angle. We propose a self-gradient model that includes self-gradients and the intrinsic zero biases of the RAGG. The self-gradient model is a function of the RAGG attitude, and it includes parameters related to surrounding masses. The calibration of equivalent zero biases determines the parameters of the self-gradient model. We provide detailed procedures and mathematical formulations for calibrating scale factors and parameters in the self-gradient model. A RAGG physical simulation system substitutes for the actual RAGG in the calibration and validation experiments. Four point masses simulate four types of surrounding masses producing self-gradients. Validation experiments show that the self-gradients predicted by the self-gradient model are consistent with those from the outputs of the RAGG physical simulation system, suggesting that the presented calibration method is valid.

Locomotive Assignment Problem with Heterogeneous Vehicle Fleet and Hiring External Locomotives

Directory of Open Access Journals (Sweden)

Dušan Teichmann

2015-01-01

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

Feedback control of the neuromusculoskeletal system in a forward dynamics simulation of stair locomotion.

Science.gov (United States)

Selk Ghafari, A; Meghdari, A; Vossoughi, G

2009-08-01

The aim of this study is to employ feedback control loops to provide a stable forward dynamics simulation of human movement under repeated position constraint conditions in the environment, particularly during stair climbing. A ten-degrees-of-freedom skeletal model containing 18 Hill-type musculotendon actuators per leg was employed to simulate the model in the sagittal plane. The postural tracking and obstacle avoidance were provided by the proportional-integral-derivative controller according to the modulation of the time rate change of the joint kinematics. The stability of the model was maintained by controlling the velocity of the body's centre of mass according to the desired centre of pressure during locomotion. The parameters of the proposed controller were determined by employing the iterative feedback tuning approach to minimize tracking errors during forward dynamics simulation. Simultaneously, an inverse-dynamics-based optimization was employed to compute a set of desired musculotendon forces in the closed-loop simulation to resolve muscle redundancy. Quantitative comparisons of the simulation results with the experimental measurements and the reference muscles' activities illustrate the accuracy and efficiency of the proposed method during the stable ascending simulation.

Geckos significantly alter foot orientation to facilitate adhesion during downhill locomotion.

Science.gov (United States)

Birn-Jeffery, Aleksandra V; Higham, Timothy E

2014-10-01

Geckos employ their adhesive system when moving up an incline, but the directionality of the system may limit function on downhill surfaces. Here, we use a generalist gecko to test whether limb modulation occurs on downhill slopes to allow geckos to take advantage of their adhesive system. We examined three-dimensional limb kinematics for geckos moving up and down a 45° slope. Remarkably, the hind limbs were rotated posteriorly on declines, resulting in digit III of the pes facing a more posterior direction (opposite to the direction of travel). No significant changes in limb orientation were found in any other condition. This pes rotation leads to a dramatic shift in foot function that facilitates the use of the adhesive system as a brake/stabilizer during downhill locomotion and, although this rotation is not unique to geckos, it is significant for the deployment of adhesion. Adhesion is not just advantageous for uphill locomotion but can be employed to help deal with the effects of gravity during downhill locomotion, highlighting the incredible multi-functionality of this key innovation. © 2014 The Author(s) Published by the Royal Society. All rights reserved.

Gravity loop corrections to the standard model Higgs in Einstein gravity

International Nuclear Information System (INIS)

Yugo Abe; Masaatsu Horikoshi; Takeo Inami

2016-01-01

We study one-loop quantum gravity corrections to the standard model Higgs potential V(φ) à la Coleman-Weinberg and examine the stability question of V(φ) in the energy region of Planck mass scale, μ ≃ M_P_l (M_P_l = 1.22x10"1"9 GeV). We calculate the gravity one-loop corrections to V(φ) in Einstein gravity by using the momentum cut-off Λ. We have found that even small gravity corrections compete with the standard model term of V(φ) and affect the stability argument of the latter part alone. This is because the latter part is nearly zero in the energy region of M_P_l. (author)

Solving the patient zero inverse problem by using generalized simulated annealing

Science.gov (United States)

Menin, Olavo H.; Bauch, Chris T.

2018-01-01

Identifying patient zero - the initially infected source of a given outbreak - is an important step in epidemiological investigations of both existing and emerging infectious diseases. Here, the use of the Generalized Simulated Annealing algorithm (GSA) to solve the inverse problem of finding the source of an outbreak is studied. The classical disease natural histories susceptible-infected (SI), susceptible-infected-susceptible (SIS), susceptible-infected-recovered (SIR) and susceptible-infected-recovered-susceptible (SIRS) in a regular lattice are addressed. Both the position of patient zero and its time of infection are considered unknown. The algorithm performance with respect to the generalization parameter q˜v and the fraction ρ of infected nodes for whom infection was ascertained is assessed. Numerical experiments show the algorithm is able to retrieve the epidemic source with good accuracy, even when ρ is small, but present no evidence to support that GSA performs better than its classical version. Our results suggest that simulated annealing could be a helpful tool for identifying patient zero in an outbreak where not all cases can be ascertained.

Simulated microgravity, Mars gravity, and 2g hypergravity affect cell cycle regulation, ribosome biogenesis, and epigenetics in Arabidopsis cell cultures.

Science.gov (United States)

Kamal, Khaled Y; Herranz, Raúl; van Loon, Jack J W A; Medina, F Javier

2018-04-23

Gravity is the only component of Earth environment that remained constant throughout the entire process of biological evolution. However, it is still unclear how gravity affects plant growth and development. In this study, an in vitro cell culture of Arabidopsis thaliana was exposed to different altered gravity conditions, namely simulated reduced gravity (simulated microgravity, simulated Mars gravity) and hypergravity (2g), to study changes in cell proliferation, cell growth, and epigenetics. The effects after 3, 14, and 24-hours of exposure were evaluated. The most relevant alterations were found in the 24-hour treatment, being more significant for simulated reduced gravity than hypergravity. Cell proliferation and growth were uncoupled under simulated reduced gravity, similarly, as found in meristematic cells from seedlings grown in real or simulated microgravity. The distribution of cell cycle phases was changed, as well as the levels and gene transcription of the tested cell cycle regulators. Ribosome biogenesis was decreased, according to levels and gene transcription of nucleolar proteins and the number of inactive nucleoli. Furthermore, we found alterations in the epigenetic modifications of chromatin. These results show that altered gravity effects include a serious disturbance of cell proliferation and growth, which are cellular functions essential for normal plant development.

Three-Dimensional Printing in Zero Gravity

Science.gov (United States)

Werkheiser, Niki

2015-01-01

The 3D printing in zero-g (3D Print) technology demonstration project is a proof-of-concept test designed to assess the properties of melt deposition modeling additive manufacturing in the microgravity environment experienced on the International Space Station (ISS). This demonstration is the first step towards realizing a 'machine shop' in space, a critical enabling component of any deep space mission.

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

Science.gov (United States)

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

2007-09-01

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

Passive appendages aid locomotion through symmetry breaking

Science.gov (United States)

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

2014-11-01

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

Continuum limbed robots for locomotion

Science.gov (United States)

Mutlu, Alper

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

Global height datum unification: a new approach in gravity potential space

Science.gov (United States)

Ardalan, A. A.; Safari, A.

2005-12-01

The problem of “global height datum unification” is solved in the gravity potential space based on: (1) high-resolution local gravity field modeling, (2) geocentric coordinates of the reference benchmark, and (3) a known value of the geoid’s potential. The high-resolution local gravity field model is derived based on a solution of the fixed-free two-boundary-value problem of the Earth’s gravity field using (a) potential difference values (from precise leveling), (b) modulus of the gravity vector (from gravimetry), (c) astronomical longitude and latitude (from geodetic astronomy and/or combination of (GNSS) Global Navigation Satellite System observations with total station measurements), (d) and satellite altimetry. Knowing the height of the reference benchmark in the national height system and its geocentric GNSS coordinates, and using the derived high-resolution local gravity field model, the gravity potential value of the zero point of the height system is computed. The difference between the derived gravity potential value of the zero point of the height system and the geoid’s potential value is computed. This potential difference gives the offset of the zero point of the height system from geoid in the “potential space”, which is transferred into “geometry space” using the transformation formula derived in this paper. The method was applied to the computation of the offset of the zero point of the Iranian height datum from the geoid’s potential value W 0=62636855.8 m2/s2. According to the geometry space computations, the height datum of Iran is 0.09 m below the geoid.

Initial conditions for cosmological N-body simulations of the scalar sector of theories of Newtonian, Relativistic and Modified Gravity

International Nuclear Information System (INIS)

Valkenburg, Wessel; Hu, Bin

2015-01-01

We present a description for setting initial particle displacements and field values for simulations of arbitrary metric theories of gravity, for perfect and imperfect fluids with arbitrary characteristics. We extend the Zel'dovich Approximation to nontrivial theories of gravity, and show how scale dependence implies curved particle paths, even in the entirely linear regime of perturbations. For a viable choice of Effective Field Theory of Modified Gravity, initial conditions set at high redshifts are affected at the level of up to 5% at Mpc scales, which exemplifies the importance of going beyond Λ-Cold Dark Matter initial conditions for modifications of gravity outside of the quasi-static approximation. In addition, we show initial conditions for a simulation where a scalar modification of gravity is modelled in a Lagrangian particle-like description. Our description paves the way for simulations and mock galaxy catalogs under theories of gravity beyond the standard model, crucial for progress towards precision tests of gravity and cosmology

Full-scale locomotive dynamic crash testing and correlations : C-39 type locomotive colliding with a loaded hopper car (test 7).

Science.gov (United States)

2011-09-01

This report presents the results of a locomotive and three loaded hopper car consist traveling at 29 miles per hour colliding with a stationary consist of 35 loaded hopper cars. The details of test instrumentation, LS-DYNA finite element simulation, ...

Application of flywheel energy storage for heavy haul locomotives

International Nuclear Information System (INIS)

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

2015-01-01

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

Extra Low-Gear: A Micro-Gravity Laboratory to Simulate Asteroid Surfaces

Science.gov (United States)

Scheeres, D. J.; Sánchez, P.; Dissly, R. W.; Asphaug, E. I.; Housen, K. R.; Swift, M. R.; Yano, H.; Roark, S. E.; Soto, J. C.

2009-03-01

The conceptual design and application of a low-speed centrifuge for carrying out milli to micro-G gravity experiments to simulate the granular nature of the surface and interiors of asteroids and comets is described.

Feynman diagrams coupled to three-dimensional quantum gravity

International Nuclear Information System (INIS)

Barrett, John W

2006-01-01

A framework for quantum field theory coupled to three-dimensional quantum gravity is proposed. The coupling with quantum gravity regulates the Feynman diagrams. One recovers the usual Feynman amplitudes in the limit as the cosmological constant tends to zero

Flight Mechanics Experiment Onboard NASA's Zero Gravity Aircraft

Science.gov (United States)

Matthews, Kyle R.; Motiwala, Samira A.; Edberg, Donald L.; García-Llama, Eduardo

2012-01-01

This paper presents a method to promote STEM (Science, Technology, Engineering, and Mathematics) education through participation in a reduced gravity program with NASA (National Aeronautics and Space Administration). Microgravity programs with NASA provide students with a unique opportunity to conduct scientific research with innovative and…

Humans running in place on water at simulated reduced gravity.

Directory of Open Access Journals (Sweden)

Alberto E Minetti

Full Text Available BACKGROUND: On Earth only a few legged species, such as water strider insects, some aquatic birds and lizards, can run on water. For most other species, including humans, this is precluded by body size and proportions, lack of appropriate appendages, and limited muscle power. However, if gravity is reduced to less than Earth's gravity, running on water should require less muscle power. Here we use a hydrodynamic model to predict the gravity levels at which humans should be able to run on water. We test these predictions in the laboratory using a reduced gravity simulator. METHODOLOGY/PRINCIPAL FINDINGS: We adapted a model equation, previously used by Glasheen and McMahon to explain the dynamics of Basilisk lizard, to predict the body mass, stride frequency and gravity necessary for a person to run on water. Progressive body-weight unloading of a person running in place on a wading pool confirmed the theoretical predictions that a person could run on water, at lunar (or lower gravity levels using relatively small rigid fins. Three-dimensional motion capture of reflective markers on major joint centers showed that humans, similarly to the Basilisk Lizard and to the Western Grebe, keep the head-trunk segment at a nearly constant height, despite the high stride frequency and the intensive locomotor effort. Trunk stabilization at a nearly constant height differentiates running on water from other, more usual human gaits. CONCLUSIONS/SIGNIFICANCE: The results showed that a hydrodynamic model of lizards running on water can also be applied to humans, despite the enormous difference in body size and morphology.

Spray Bar Zero-Gravity Vent System for On-Orbit Liquid Hydrogen Storage

Science.gov (United States)

Hastings, L. J.; Flachbart, R. H.; Martin, J. J.; Hedayat, A.; Fazah, M.; Lak, T.; Nguyen, H.; Bailey, J. W.

2003-01-01

During zero-gravity orbital cryogenic propulsion operations, a thermodynamic vent system (TVS) concept is expected to maintain tank pressure control without propellant resettling. In this case, a longitudinal spray bar mixer system, coupled with a Joule-Thompson (J-T) valve and heat exchanger, was evaluated in a series of TVS tests using the 18 cu m multipurpose hydrogen test bed. Tests performed at fill levels of 90, 50, and 25 percent, coupled with heat tank leaks of about 20 and 50 W, successfully demonstrated tank pressure control within a 7-kPa band. Based on limited testing, the presence of helium constrained the energy exchange between the gaseous and liquid hydrogen (LH2) during the mixing cycles. A transient analytical model, formulated to characterize TVS performance, was used to correlate the test data. During self-pressurization cycles following tank lockup, the model predicted faster pressure rise rates than were measured; however, once the system entered the cyclic self-pressurization/mixing/venting operational mode, the modeled and measured data were quite similar. During a special test at the 25-percent fill level, the J-T valve was allowed to remain open and successfully reduced the bulk LH2 saturation pressure from 133 to 70 kPa in 188 min.

Generalized Vaidya spacetime for cubic gravity

Science.gov (United States)

Ruan, Shan-Ming

2016-03-01

We present a kind of generalized Vaidya solution of a new cubic gravity in five dimensions whose field equations in spherically symmetric spacetime are always second order like the Lovelock gravity. We also study the thermodynamics of its spherically symmetric apparent horizon and get its entropy expression and generalized Misner-Sharp energy. Finally, we present the first law and second law hold in this gravity. Although all the results are analogous to those in Lovelock gravity, we in fact introduce the contribution of a new cubic term in five dimensions where the cubic Lovelock term is just zero.

Locomotion of Mexican jumping beans

International Nuclear Information System (INIS)

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

2012-01-01

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

Location Accuracy of INS/Gravity-Integrated Navigation System on the Basis of Ocean Experiment and Simulation.

Science.gov (United States)

Wang, Hubiao; Wu, Lin; Chai, Hua; Bao, Lifeng; Wang, Yong

2017-12-20

An experiment comparing the location accuracy of gravity matching-aided navigation in the ocean and simulation is very important to evaluate the feasibility and the performance of an INS/gravity-integrated navigation system (IGNS) in underwater navigation. Based on a 1' × 1' marine gravity anomaly reference map and multi-model adaptive Kalman filtering algorithm, a matching location experiment of IGNS was conducted using data obtained using marine gravimeter. The location accuracy under actual ocean conditions was 2.83 nautical miles (n miles). Several groups of simulated data of marine gravity anomalies were obtained by establishing normally distributed random error N ( u , σ 2 ) with varying mean u and noise variance σ 2 . Thereafter, the matching location of IGNS was simulated. The results show that the changes in u had little effect on the location accuracy. However, an increase in σ 2 resulted in a significant decrease in the location accuracy. A comparison between the actual ocean experiment and the simulation along the same route demonstrated the effectiveness of the proposed simulation method and quantitative analysis results. In addition, given the gravimeter (1-2 mGal accuracy) and the reference map (resolution 1' × 1'; accuracy 3-8 mGal), location accuracy of IGNS was up to reach ~1.0-3.0 n miles in the South China Sea.

SIMULATION OF DRIVER’S LOCOMOTIVE-HANDLING ACTIVITY USING THE THEORY OF FUZZY GRAPHS

Directory of Open Access Journals (Sweden)

T. V. Butko

2015-03-01

Full Text Available Purpose. The efficiency and safety of locomotive control improving is important and relevant scientific and practical problem. Every driver during the trains-handling bases on his experience and knowledge, that is why the compilation and detection the most efficient ways to control the locomotive-handling is one of the stages of measures development to reduce transportation costs. The purpose of this paper is a formalization process description of locomotive-handling and quality parameters determination of this process. Methodology. In order to achieve this goal the theory of fuzzy probabilistic graphs was used. Vertices of the graph correspond to the events start and end operations at train-handling. The graph arcs describe operations on train-handling. Graph consists of thirteen peaks corresponding to the main control actions of the engine-driver. The weighting factors of transitions between vertices are assigned by fuzzy numbers. Their values were obtained by expert estimates. Fuzzy probabilities and transition time are presented as numbers with trapezoidal membership function. Findings. Using successive merging of parallel arcs, loops and vertices elimination, the equivalent fuzzy graph of train-handling and the corresponding L-matrix were obtained. Equivalent graph takes into account separately activity of the driver during normal operation and during emergency situations. Originality. The theoretical foundations of describing process formalization in driver’s locomotive-handling activity were developed using the fuzzy probabilistic graph. The parameters characterizing the decision-making process of engineer were obtained. Practical value. With the resulting model it is possible to estimate the available reserves for the quality improvement of locomotive-handling. Reduction in the time for decision-making will lead to the approximation the current mode of control to the rational one and decrease costs of hauling operations. And reduction

Active Response Gravity Offload and Method

Science.gov (United States)

Dungan, Larry K. (Inventor); Valle, Paul S. (Inventor); Bankieris, Derek R. (Inventor); Lieberman, Asher P. (Inventor); Redden, Lee (Inventor); Shy, Cecil (Inventor)

2015-01-01

A variable gravity field simulator can be utilized to provide three dimensional simulations for simulated gravity fields selectively ranging from Moon, Mars, and micro-gravity environments and/or other selectable gravity fields. The gravity field simulator utilizes a horizontally moveable carriage with a cable extending from a hoist. The cable can be attached to a load which experiences the effects of the simulated gravity environment. The load can be a human being or robot that makes movements that induce swinging of the cable whereby a horizontal control system reduces swinging energy. A vertical control system uses a non-linear feedback filter to remove noise from a load sensor that is in the same frequency range as signals from the load sensor.

The dynamical simulation of transient three-dimensional cryogenic liquid sloshing oscillations under low-gravity and microgravity

Science.gov (United States)

Chi, Yong Mann

A numerical simulation model has been developed for the dynamical behavior of spacecraft propellant, both during the draining and the closing of the tank outlet at the onset of suction dip affected by the asymmetric combined gravity gradient and gravity jitter accelerations. In particular the effect of the surface tension of the fluids in the partially filled dewar (applicable to the Gravity Probe-B spacecraft dewar tank and fuel tanks for a liquid rocket) with rotation has been simulated and investigated. Two different cases of accelerations, one with gravity jitter dominated and the other equally weighted between gravity gradient and gravity jitter accelerations, are studied. In the development of this numerical simulation model, the NASA-VOF3D has been used as a supplement to the numerical program of this dissertation. The NASA-VOF3D code has been used for performing the three-dimensional incompressible flows with free surface. This is also used for controlling liquid sloshing inside the tank when the spacecraft is orbiting. To keep track of the location of the liquid, the fractional volume of fluid (VOF) technique was used. The VOF is based on the indicator function of the region occupied by the liquid with an Eulerian approach to solve the free surface phenomena between liquid and gas phases. For the calculation of surface tension force, the VOF model is also used. The newly developed simulation model is used to investigate the characteristics of liquid hydrogen draining in terms of the residual amount of trapped liquid at the onset of the suction dip and residual liquid volume at the time the dip of the liquid-vapor interface formed. This investigation simulates the characteristics of liquid oscillations due to liquid container outlet shut-off at the onset of suction dip. These phenomena checked how these mechanisms affected the excitation of slosh waves during the course of liquid draining and after shut-off tank outlet. In the present study, the dynamical

Research and development at the Marshall Space Flight Center Neutral Buoyancy Simulator

Science.gov (United States)

Kulpa, Vygantas P.

1987-01-01

The Neutral Buoyancy Simulator (NBS), a facility designed to imitate zero-gravity conditions, was used to test the Experimental Assembly of Structures in Extravehicular Activity (EASE) and the Assembly Concept for Construction of Erectable Space Structures (ACCESS). Neutral Buoyancy Simulator applications and operations; early space structure research; development of the EASE/ACCESS experiments; and improvement of NBS simulation are summarized.

A survey report for the biped locomotion model under external force

International Nuclear Information System (INIS)

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

1993-10-01

A mechanical design study of biped locomotion robots is being performed at JAERI within the scope of the Human Acts Simulation Program (HASP). The design study at JAERI is of an arbitrarily mobile robot for inspection of nuclear facilities. We have developed the simulation software which has capability of obtaining several types of stable motions for straight walking in terms of design tools. In addition, we are studying more complex walking patterns such as turning. However, in order to realize the robustness of walking, it is also necessary for the robot to have a capability of walking under external force as a disturbance which is caused by touching an object and so on. A survey has been performed for collecting useful information from already existing biped locomotion robots. This is a survey report for the biped locomotion model under external force: the WL-12RIII/IV designed and developed at Waseda University. This report includes the machine model, control system, control method and results of walking experiments. (author)

Quadrupedal Robot Locomotion: A Biologically Inspired Approach and Its Hardware Implementation

Directory of Open Access Journals (Sweden)

A. Espinal

2016-01-01

Full Text Available A bioinspired locomotion system for a quadruped robot is presented. Locomotion is achieved by a spiking neural network (SNN that acts as a Central Pattern Generator (CPG producing different locomotion patterns represented by their raster plots. To generate these patterns, the SNN is configured with specific parameters (synaptic weights and topologies, which were estimated by a metaheuristic method based on Christiansen Grammar Evolution (CGE. The system has been implemented and validated on two robot platforms; firstly, we tested our system on a quadruped robot and, secondly, on a hexapod one. In this last one, we simulated the case where two legs of the hexapod were amputated and its locomotion mechanism has been changed. For the quadruped robot, the control is performed by the spiking neural network implemented on an Arduino board with 35% of resource usage. In the hexapod robot, we used Spartan 6 FPGA board with only 3% of resource usage. Numerical results show the effectiveness of the proposed system in both cases.

Implementation of Headtracking and 3D Stereo with Unity and VRPN for Computer Simulations

Science.gov (United States)

Noyes, Matthew A.

2013-01-01

This paper explores low-cost hardware and software methods to provide depth cues traditionally absent in monocular displays. The use of a VRPN server in conjunction with a Microsoft Kinect and/or Nintendo Wiimote to provide head tracking information to a Unity application, and NVIDIA 3D Vision for retinal disparity support, is discussed. Methods are suggested to implement this technology with NASA's EDGE simulation graphics package, along with potential caveats. Finally, future applications of this technology to astronaut crew training, particularly when combined with an omnidirectional treadmill for virtual locomotion and NASA's ARGOS system for reduced gravity simulation, are discussed.

Simulating Gravity: Dark Matter and Gravitational Lensing in the Classroom

Science.gov (United States)

Ford, Jes; Stang, Jared; Anderson, Catherine

2015-01-01

Dark matter makes up most of the matter in the universe but very little of a standard introductory physics curriculum. Here we present our construction and use of a spandex sheet-style gravity simulator to qualitatively demonstrate two aspects of modern physics related to dark matter. First, we describe an activity in which students explore the…

Numerical Simulation of cardiovascular deconditioning in different reduced gravity exposure scenarios. Parabolic flight validation.

Science.gov (United States)

Perez-Poch, Antoni; Gonzalez, Daniel

Numerical models and simulations are an emerging area of research in human physiology. As complex numerical models are available, along with high-speed computing technologies, it is possible to produce more accurate predictions of the long-term effects of reduced gravity on the human body. NELME (Numerical Emulation of Long-Term Microgravity Effects) has been developed as an electrical-like control system model of the pysiological changes that may arise when gravity changes are applied to the cardiovascular system. Validation of the model has been carried out in parabolic flights at UPC BarcelonaTech Platform. A number of parabolas of up to 8 seconds were performed at Sabadell Airport with an aerobatic single-engine CAP10B plane capable of performing such maneuvres. Heart rate, arterial pressure, and gravity data was collected and compared to the output obtained from the model in order to optimize its parameters. The model is then able to perform simulations for long-term periods of exposure to microgravity, and then the risk for a major malfunction is evaluated. Vascular resistance is known to be impaired during a long-term mission. This effects are not fully understood, and the model is capable of providing a continuous thread of simulated scenarios, while varying gravity in a nearly-continuous way. Aerobic exercise as countermeasure has been simulated as a periodic perturbation into the simulated physiological system. Results are discussed in terms of the validaty and reliability of the outcomes from the model, that have been found compatible with the available data in the literature. Different gender sensitivities to microgravity exposure are discussed. Also thermal stress along with exercise, as it happens in the case of Extravehicular activity is smulated. Results show that vascular resistance is significantly impared (p<0,05) at gravity levels less than 0,4g, when exposed for a period of time longer than 16 days. This degree of impairement is comparable with

Locomotion of bluefish.

Science.gov (United States)

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

1976-02-01

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

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

Science.gov (United States)

2010-07-01

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

Risk analysis of gravity dam instability using credibility theory Monte Carlo simulation model.

Science.gov (United States)

Xin, Cao; Chongshi, Gu

2016-01-01

Risk analysis of gravity dam stability involves complicated uncertainty in many design parameters and measured data. Stability failure risk ratio described jointly by probability and possibility has deficiency in characterization of influence of fuzzy factors and representation of the likelihood of risk occurrence in practical engineering. In this article, credibility theory is applied into stability failure risk analysis of gravity dam. Stability of gravity dam is viewed as a hybrid event considering both fuzziness and randomness of failure criterion, design parameters and measured data. Credibility distribution function is conducted as a novel way to represent uncertainty of influence factors of gravity dam stability. And combining with Monte Carlo simulation, corresponding calculation method and procedure are proposed. Based on a dam section, a detailed application of the modeling approach on risk calculation of both dam foundation and double sliding surfaces is provided. The results show that, the present method is feasible to be applied on analysis of stability failure risk for gravity dams. The risk assessment obtained can reflect influence of both sorts of uncertainty, and is suitable as an index value.

Numerical Simulation of a Breaking Gravity Wave Event Over Greenland Observed During Fastex

National Research Council Canada - National Science Library

Doyle, James

1997-01-01

Measurements from the NOAA G4 research aircraft and high-resolution numerical simulations are used to study the evolution and dynamics of a large-amplitude gravity wave event over Greenland that took...

Control of suspended low-gravity simulation system based on self-adaptive fuzzy PID

Science.gov (United States)

Chen, Zhigang; Qu, Jiangang

2017-09-01

In this paper, an active suspended low-gravity simulation system is proposed to follow the vertical motion of the spacecraft. Firstly, working principle and mathematical model of the low-gravity simulation system are shown. In order to establish the balance process and suppress the strong position interference of the system, the idea of self-adaptive fuzzy PID control strategy is proposed. It combines the PID controller with a fuzzy controll strategy, the control system can be automatically adjusted by changing the proportional parameter, integral parameter and differential parameter of the controller in real-time. At last, we use the Simulink tools to verify the performance of the controller. The results show that the system can reach balanced state quickly without overshoot and oscillation by the method of the self-adaptive fuzzy PID, and follow the speed of 3m/s, while simulation degree of accuracy of system can reach to 95.9% or more.

A finite quantum gravity

International Nuclear Information System (INIS)

Meszaros, A.

1984-05-01

In case the graviton has a very small non-zero mass, the existence of six additional massive gravitons with very big masses leads to a finite quantum gravity. There is an acausal behaviour on the scales that is determined by the masses of additional gravitons. (author)

Reciprocal locomotion of dense swimmers in Stokes flow

International Nuclear Information System (INIS)

Gonzalez-Rodriguez, David; Lauga, Eric

2009-01-01

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

LISA Pathfinder E2E performance simulation: optical and self-gravity stability analysis

Science.gov (United States)

Brandt, N.; Fichter, W.; Kersten, M.; Lucarelli, S.; Montemurro, F.

2005-05-01

End-to-end (E2E) modelling and simulation, i.e. verifying the science performance of LISA Pathfinder (spacecraft and payload), is mandatory in order to minimize mission risks. In this paper, focus is on two particular applications of the E2E performance simulator currently being developed at EADS Astrium GmbH: the opto-dynamical stability and the self-gravity disturbance stability analysis. The E2E models applied here comprise the opto-dynamical modelling of the optical metrology systems (OMS) laser interferometry, the thermo-elastic distortion modelling of the OMS optical elements and the self-gravity disturbance model accounting for structural distortions. Preliminary analysis results are presented in detail, identifying shortcomings of the current LISA technology package (LTP) mounting baseline. As a consequence, the design is now being revised.

LISA Pathfinder E2E performance simulation: optical and self-gravity stability analysis

International Nuclear Information System (INIS)

Brandt, N; Fichter, W; Kersten, M; Lucarelli, S; Montemurro, F

2005-01-01

End-to-end (E2E) modelling and simulation, i.e. verifying the science performance of LISA Pathfinder (spacecraft and payload), is mandatory in order to minimize mission risks. In this paper, focus is on two particular applications of the E2E performance simulator currently being developed at EADS Astrium GmbH: the opto-dynamical stability and the self-gravity disturbance stability analysis. The E2E models applied here comprise the opto-dynamical modelling of the optical metrology systems (OMS) laser interferometry, the thermo-elastic distortion modelling of the OMS optical elements and the self-gravity disturbance model accounting for structural distortions. Preliminary analysis results are presented in detail, identifying shortcomings of the current LISA technology package (LTP) mounting baseline. As a consequence, the design is now being revised

Biomechanics of gecko locomotion: the patterns of reaction forces on inverted, vertical and horizontal substrates

International Nuclear Information System (INIS)

Wang, Zhouyi; Dai, Zhendong; Ji, Aihong; Xing, Qiang; Ren, Lei; Dai, Liming

2015-01-01

The excellent locomotion ability of geckos on various rough and/or inclined substrates has attracted scientists’ attention for centuries. However, the moving ability of gecko-mimicking robots on various inclined surfaces still lags far behind that of geckos, mainly because our understanding of how geckos govern their locomotion is still very poor. To reveal the fundamental mechanism of gecko locomotion and also to facilitate the design of gecko-mimicking robots, we have measured the reaction forces (RFs) acting on each individual foot of moving geckos on inverted, vertical and horizontal substrates (i.e. ceiling, wall and floor), have associated the RFs with locomotion behaviors by using high-speed camera, and have presented the relationships of the force components with patterns of reaction forces (PRFs). Geckos generate different PRF on ceiling, wall and floor, that is, the PRF is determined by the angles between the direction of gravity and the substrate on which geckos move. On the ceiling, geckos produce reversed shear forces acting on the front and hind feet, which pull away from the body in both lateral and fore-aft directions. They use a very large supporting angle from 21° to 24° to reduce the forces acting on their legs and feet. On the floor, geckos lift their bodies using a supporting angle from 76° to 78°, which not only decreases the RFs but also improves their locomotion ability. On the wall, geckos generate a reliable self-locking attachment by using a supporting angle of 14.8°, which is only about half of the critical angle of detachment. (paper)

Zero cosmological constant from normalized general relativity

International Nuclear Information System (INIS)

Davidson, Aharon; Rubin, Shimon

2009-01-01

Normalizing the Einstein-Hilbert action by the volume functional makes the theory invariant under constant shifts in the Lagrangian. The associated field equations then resemble unimodular gravity whose otherwise arbitrary cosmological constant is now determined as a Machian universal average. We prove that an empty space-time is necessarily Ricci tensor flat, and demonstrate the vanishing of the cosmological constant within the scalar field paradigm. The cosmological analysis, carried out at the mini-superspace level, reveals a vanishing cosmological constant for a universe which cannot be closed as long as gravity is attractive. Finally, we give an example of a normalized theory of gravity which does give rise to a non-zero cosmological constant.

Chiral W-gravities for general extended conformal algebras

International Nuclear Information System (INIS)

Hull, C.M.

1991-01-01

The gauging of any chiral extended conformal symmetry of any two-dimensional field theory is achieved by coupling to the appropriate chiral W-gravity. Only a linear coupling to the W-gravity gauge fields is needed. The gauging of algebras with central charges requires the introduction of spin-zero gauge fields corresponding to the central charges. The example of Liouville theory is discussed in detail and a new way of coupling it to gravity is obtained. (orig.)

The behavior of surface tension on steady-state rotating fluids in the low gravity environments

Science.gov (United States)

Hung, R. J.; Leslie, Fred W.

1987-01-01

The effect of surface tension on steady-state rotating fluids in a low gravity environment is studied. All the values of the physical parameters used in these calculations, except in the low gravity environments, are based on the measurements carried out by Leslie (1985) in the low gravity environment of a free-falling aircraft. The profile of the interface of two fluids is derived from Laplace's equation relating the pressure drop across an interface to the radii of curvature which has been applied to a low gravity rotating bubble that contacts the container boundary. The interface shape depends on the ratio of gravity to surface tension forces, the ratio of centrifugal to surface tension forces, the contact radius of the interface to the boundary, and the contact angle. The shape of the bubble is symmetric about its equator in a zero-gravity environment. This symmetry disappears and gradually shifts to parabolic profiles as the gravity environment becomes non-zero. The location of the maximum radius of the bubble moves upward from the center of the depth toward the top boundary of the cylinder as gravity increases. The contact radius of interface to the boundary r0 at the top side of cylinder increases and r0 at the bottom side of the cylinder decreases as the gravity environment increases from zero to 1 g.

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

Science.gov (United States)

2010-10-01

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

Novel, Moon and Mars, partial gravity simulation paradigms and their effects on the balance between cell growth and cell proliferation during early plant development.

Science.gov (United States)

Manzano, Aránzazu; Herranz, Raúl; den Toom, Leonardus A; Te Slaa, Sjoerd; Borst, Guus; Visser, Martijn; Medina, F Javier; van Loon, Jack J W A

2018-01-01

Clinostats and Random Positioning Machine (RPM) are used to simulate microgravity, but, for space exploration, we need to know the response of living systems to fractional levels of gravity (partial gravity) as they exist on Moon and Mars. We have developed and compared two different paradigms to simulate partial gravity using the RPM, one by implementing a centrifuge on the RPM (RPM HW ), the other by applying specific software protocols to driving the RPM motors (RPM SW ). The effects of the simulated partial gravity were tested in plant root meristematic cells, a system with known response to real and simulated microgravity. Seeds of Arabidopsis thaliana were germinated under simulated Moon (0.17  g ) and Mars (0.38  g ) gravity. In parallel, seeds germinated under simulated microgravity (RPM), or at 1  g control conditions. Fixed root meristematic cells from 4-day grown seedlings were analyzed for cell proliferation rate and rate of ribosome biogenesis using morphometrical methods and molecular markers of the regulation of cell cycle and nucleolar activity. Cell proliferation appeared increased and cell growth was depleted under Moon gravity, compared with the 1  g control. The effects were even higher at the Moon level than at simulated microgravity, indicating that meristematic competence (balance between cell growth and proliferation) is also affected at this gravity level. However, the results at the simulated Mars level were close to the 1  g static control. This suggests that the threshold for sensing and responding to gravity alteration in the root would be at a level intermediate between Moon and Mars gravity. Both partial g simulation strategies seem valid and show similar results at Moon g -levels, but further research is needed, in spaceflight and simulation facilities, especially around and beyond Mars g levels to better understand more precisely the differences and constrains in the use of these facilities for the space biology community.

Materials processing in zero gravity. [space manufacturing

Science.gov (United States)

Wuenscher, H. F.

1973-01-01

Manufacturing processes which are expected to show drastic changes in a space environment due to the absence of earth gravity are classified according to (1) buoyancy and thermal convection sensitive processes and (2) processes where molecular forces like cohesion and adhesion remain as the relatively strongest and hence controlling factors. Some specific process demonstration experiments carried out during the Apollo 14 mission and in the Skylab program are described. These include chemical separation by electrophoresis, the M551 metals melting experiment, the M552 exothermic brazing experiment, the M553 sphere forming experiment, the M554 composite casting experiment, and the M555 gallium arsenide crystal growth experiment.

49 CFR 238.223 - Locomotive fuel tanks.

Science.gov (United States)

2010-10-01

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

Magnetic field is the dominant factor to induce the response of Streptomyces avermitilis in altered gravity simulated by diamagnetic levitation.

Directory of Open Access Journals (Sweden)

Mei Liu

Full Text Available BACKGROUND: Diamagnetic levitation is a technique that uses a strong, spatially varying magnetic field to simulate an altered gravity environment, as in space. In this study, using Streptomyces avermitilis as the test organism, we investigate whether changes in magnetic field and altered gravity induce changes in morphology and secondary metabolism. We find that a strong magnetic field (12T inhibit the morphological development of S. avermitilis in solid culture, and increase the production of secondary metabolites. METHODOLOGY/PRINCIPAL FINDINGS: S. avermitilis on solid medium was levitated at 0 g*, 1 g* and 2 g* in an altered gravity environment simulated by diamagnetic levitation and under a strong magnetic field, denoted by the asterix. The morphology was obtained by electromicroscopy. The production of the secondary metabolite, avermectin, was determined by OD(245 nm. The results showed that diamagnetic levitation could induce a physiological response in S. avermitilis. The difference between 1 g* and the control group grown without the strong magnetic field (1 g, showed that the magnetic field was a more dominant factor influencing changes in morphology and secondary metabolite production, than altered gravity. CONCLUSION/SIGNIFICANCE: We have discovered that magnetic field, rather than altered gravity, is the dominant factor in altered gravity simulated by diamagnetic levitation, therefore care should to be taken in the interpretation of results when using diamagnetic levitation as a technique to simulate altered gravity. Hence, these results are significant, and timely to researchers considering the use of diamagnetic levitation to explore effects of weightlessness on living organisms and on physical phenomena.

49 CFR 229.121 - Locomotive cab noise.

Science.gov (United States)

2010-10-01

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

Surfing surface gravity waves

Science.gov (United States)

Pizzo, Nick

2017-11-01

A simple criterion for water particles to surf an underlying surface gravity wave is presented. It is found that particles travelling near the phase speed of the wave, in a geometrically confined region on the forward face of the crest, increase in speed. The criterion is derived using the equation of John (Commun. Pure Appl. Maths, vol. 6, 1953, pp. 497-503) for the motion of a zero-stress free surface under the action of gravity. As an example, a breaking water wave is theoretically and numerically examined. Implications for upper-ocean processes, for both shallow- and deep-water waves, are discussed.

The noise factor in railway locomotives.

Science.gov (United States)

Rotter, T

1982-09-01

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

Achieving informed decision-making for net zero energy buildings design using building performance simulation tools

NARCIS (Netherlands)

Attia, S.G.; Gratia, E.; De Herde, A.; Hensen, J.L.M.

2013-01-01

Building performance simulation (BPS) is the basis for informed decision-making of Net Zero Energy Buildings (NZEBs) design. This paper aims to investigate the use of building performance simulation tools as a method of informing the design decision of NZEBs. The aim of this study is to evaluate the

Simulation of bubble motion under gravity by lattice Boltzmann method

International Nuclear Information System (INIS)

Takada, Naoki; Misawa, Masaki; Tomiyama, Akio; Hosokawa, Shigeo

2001-01-01

We describe the numerical simulation results of bubble motion under gravity by the lattice Boltzmann method (LBM), which assumes that a fluid consists of mesoscopic fluid particles repeating collision and translation and a multiphase interface is reproduced in a self-organizing way by repulsive interaction between different kinds of particles. The purposes in this study are to examine the applicability of LBM to the numerical analysis of bubble motions, and to develop a three-dimensional version of the binary fluid model that introduces a free energy function. We included the buoyancy terms due to the density difference in the lattice Boltzmann equations, and simulated single-and two-bubble motions, setting flow conditions according to the Eoetvoes and Morton numbers. The two-dimensional results by LBM agree with those by the Volume of Fluid method based on the Navier-Stokes equations. The three-dimensional model possesses the surface tension satisfying the Laplace's law, and reproduces the motion of single bubble and the two-bubble interaction of their approach and coalescence in circular tube. There results prove that the buoyancy terms and the 3D model proposed here are suitable, and that LBM is useful for the numerical analysis of bubble motion under gravity. (author)

KILOPARSEC-SCALE SIMULATIONS OF STAR FORMATION IN DISK GALAXIES. I. THE UNMAGNETIZED AND ZERO-FEEDBACK LIMIT

International Nuclear Information System (INIS)

Van Loo, Sven; Butler, Michael J.; Tan, Jonathan C.

2013-01-01

We present hydrodynamic simulations of the evolution of self-gravitating dense gas on scales of 1 kpc down to ∼< parsec in a galactic disk, designed to study dense clump formation from giant molecular clouds (GMCs). These structures are expected to be the precursors to star clusters and this process may be the rate limiting step controlling star formation rates in galactic systems as described by the Kennicutt-Schmidt relation. We follow the thermal evolution of the gas down to ∼5 K using extinction-dependent heating and cooling functions. We do not yet include magnetic fields or localized stellar feedback, so the evolution of the GMCs and clumps is determined solely by self-gravity balanced by thermal and turbulent pressure support and the large-scale galactic shear. While cloud structures and densities change significantly during the simulation, GMC virial parameters remain mostly above unity for timescales exceeding the free-fall time of GMCs indicating that energy from galactic shear and large-scale cloud motions continuously cascades down to and within the GMCs. We implement star formation at a slow, inefficient rate of 2% per local free-fall time, but even this yields global star formation rates that are about two orders of magnitude larger than the observed Kennicutt-Schmidt relation due to overproduction of dense gas clumps. We expect a combination of magnetic support and localized stellar feedback is required to inhibit dense clump formation to ∼1% of the rate that results from the nonmagnetic, zero-feedback limit.

Zero-point length from string fluctuations

International Nuclear Information System (INIS)

Fontanini, Michele; Spallucci, Euro; Padmanabhan, T.

2006-01-01

One of the leading candidates for quantum gravity, viz. string theory, has the following features incorporated in it. (i) The full spacetime is higher-dimensional, with (possibly) compact extra-dimensions; (ii) there is a natural minimal length below which the concept of continuum spacetime needs to be modified by some deeper concept. On the other hand, the existence of a minimal length (zero-point length) in four-dimensional spacetime, with obvious implications as UV regulator, has been often conjectured as a natural aftermath of any correct quantum theory of gravity. We show that one can incorporate the apparently unrelated pieces of information-zero-point length, extra-dimensions, string T-duality-in a consistent framework. This is done in terms of a modified Kaluza-Klein theory that interpolates between (high-energy) string theory and (low-energy) quantum field theory. In this model, the zero-point length in four dimensions is a 'virtual memory' of the length scale of compact extra-dimensions. Such a scale turns out to be determined by T-duality inherited from the underlying fundamental string theory. From a low energy perspective short distance infinities are cutoff by a minimal length which is proportional to the square root of the string slope, i.e., α ' . Thus, we bridge the gap between the string theory domain and the low energy arena of point-particle quantum field theory

Simulations of fine structures on the zero field steps of Josephson tunnel junctions

DEFF Research Database (Denmark)

Scheuermann, M.; Chi, C. C.; Pedersen, Niels Falsig

1986-01-01

Fine structures on the zero field steps of long Josephson tunnel junctions are simulated for junctions with the bias current injected into the junction at the edges. These structures are due to the coupling between self-generated plasma oscillations and the traveling fluxon. The plasma oscillations...... are generated by the interaction of the bias current with the fluxon at the junction edges. On the first zero field step, the voltages of successive fine structures are given by Vn=[h-bar]/2e(2omegap/n), where n is an even integer. Applied Physics Letters is copyrighted by The American Institute of Physics....

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

Science.gov (United States)

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

2017-10-20

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

Simulations of four-dimensional simplicial quantum gravity as dynamical triangulation

International Nuclear Information System (INIS)

Agishtein, M.E.; Migdal, A.A.

1992-01-01

In this paper, Four-Dimensional Simplicial Quantum Gravity is simulated using the dynamical triangulation approach. The authors studied simplicial manifolds of spherical topology and found the critical line for the cosmological constant as a function of the gravitational one, separating the phases of opened and closed Universe. When the bare cosmological constant approaches this line from above, the four-volume grows: the authors reached about 5 x 10 4 simplexes, which proved to be sufficient for the statistical limit of infinite volume. However, for the genuine continuum theory of gravity, the parameters of the lattice model should be further adjusted to reach the second order phase transition point, where the correlation length grows to infinity. The authors varied the gravitational constant, and they found the first order phase transition, similar to the one found in three-dimensional model, except in 4D the fluctuations are rather large at the transition point, so that this is close to the second order phase transition. The average curvature in cutoff units is large and positive in one phase (gravity), and small negative in another (antigravity). The authors studied the fractal geometry of both phases, using the heavy particle propagator to define the geodesic map, as well as with the old approach using the shortest lattice paths

Exoatmospheric intercepts using zero effort miss steering for midcourse guidance

Science.gov (United States)

Newman, Brett

The suitability of proportional navigation, or an equivalent zero effort miss formulation, for exatmospheric intercepts during midcourse guidance, followed by a ballistic coast to the endgame, is addressed. The problem is formulated in terms of relative motion in a general, three dimensional framework. The proposed guidance law for the commanded thrust vector orientation consists of the sum of two terms: (1) along the line of sight unit direction and (2) along the zero effort miss component perpendicular to the line of sight and proportional to the miss itself and a guidance gain. If the guidance law is to be suitable for longer range targeting applications with significant ballistic coasting after burnout, determination of the zero effort miss must account for the different gravitational accelerations experienced by each vehicle. The proposed miss determination techniques employ approximations for the true differential gravity effect and thus, are less accurate than a direct numerical propagation of the governing equations, but more accurate than a baseline determination, which assumes equal accelerations for both vehicles. Approximations considered are constant, linear, quadratic, and linearized inverse square models. Theoretical results are applied to a numerical engagement scenario and the resulting performance is evaluated in terms of the miss distances determined from nonlinear simulation.

Quantum-gravity fluctuations and the black-hole temperature

Energy Technology Data Exchange (ETDEWEB)

Hod, Shahar [The Ruppin Academic Center, Emeq Hefer (Israel); The Hadassah Institute, Jerusalem (Israel)

2015-05-15

Bekenstein has put forward the idea that, in a quantum theory of gravity, a black hole should have a discrete energy spectrum with concomitant discrete line emission. The quantized black-hole radiation spectrum is expected to be very different from Hawking's semi-classical prediction of a thermal black-hole radiation spectrum. One naturally wonders: Is it possible to reconcile the discrete quantum spectrum suggested by Bekenstein with the continuous semi-classical spectrum suggested by Hawking? In order to address this fundamental question, in this essay we shall consider the zero-point quantum-gravity fluctuations of the black-hole spacetime. In a quantum theory of gravity, these spacetime fluctuations are closely related to the characteristic gravitational resonances of the corresponding black-hole spacetime. Assuming that the energy of the black-hole radiation stems from these zero-point quantum-gravity fluctuations of the black-hole spacetime, we derive the effective temperature of the quantized black-hole radiation spectrum. Remarkably, it is shown that this characteristic temperature of the discrete (quantized) black-hole radiation agrees with the well-known Hawking temperature of the continuous (semi-classical) black-hole spectrum. (orig.)

Quantum-gravity fluctuations and the black-hole temperature

International Nuclear Information System (INIS)

Hod, Shahar

2015-01-01

Bekenstein has put forward the idea that, in a quantum theory of gravity, a black hole should have a discrete energy spectrum with concomitant discrete line emission. The quantized black-hole radiation spectrum is expected to be very different from Hawking's semi-classical prediction of a thermal black-hole radiation spectrum. One naturally wonders: Is it possible to reconcile the discrete quantum spectrum suggested by Bekenstein with the continuous semi-classical spectrum suggested by Hawking? In order to address this fundamental question, in this essay we shall consider the zero-point quantum-gravity fluctuations of the black-hole spacetime. In a quantum theory of gravity, these spacetime fluctuations are closely related to the characteristic gravitational resonances of the corresponding black-hole spacetime. Assuming that the energy of the black-hole radiation stems from these zero-point quantum-gravity fluctuations of the black-hole spacetime, we derive the effective temperature of the quantized black-hole radiation spectrum. Remarkably, it is shown that this characteristic temperature of the discrete (quantized) black-hole radiation agrees with the well-known Hawking temperature of the continuous (semi-classical) black-hole spectrum. (orig.)

A Combined Gravity Compensation Method for INS Using the Simplified Gravity Model and Gravity Database.

Science.gov (United States)

Zhou, Xiao; Yang, Gongliu; Wang, Jing; Wen, Zeyang

2018-05-14

In recent decades, gravity compensation has become an important way to reduce the position error of an inertial navigation system (INS), especially for a high-precision INS, because of the extensive application of high precision inertial sensors (accelerometers and gyros). This paper first deducts the INS's solution error considering gravity disturbance and simulates the results. Meanwhile, this paper proposes a combined gravity compensation method using a simplified gravity model and gravity database. This new combined method consists of two steps all together. Step 1 subtracts the normal gravity using a simplified gravity model. Step 2 first obtains the gravity disturbance on the trajectory of the carrier with the help of ELM training based on the measured gravity data (provided by Institute of Geodesy and Geophysics; Chinese Academy of sciences), and then compensates it into the error equations of the INS, considering the gravity disturbance, to further improve the navigation accuracy. The effectiveness and feasibility of this new gravity compensation method for the INS are verified through vehicle tests in two different regions; one is in flat terrain with mild gravity variation and the other is in complex terrain with fierce gravity variation. During 2 h vehicle tests, the positioning accuracy of two tests can improve by 20% and 38% respectively, after the gravity is compensated by the proposed method.

Experimental tests of relativistic gravity

International Nuclear Information System (INIS)

Damour, Thibault

2000-01-01

The confrontation between Einstein's gravitation theory and experimental results, notably binary pulsar data, is summarized and its significance discussed. Experiment and theory agree at the 10 -3 level or better. All the basic structures of Einstein's theory (coupling of gravity matter; propagation and self-interaction of the gravitational field, including in strong field conditions) have been verified. However, the theoretical possibility that scalar couplings be naturally driven toward zero by the cosmological expansion suggests that the present agreement between Einstein's theory and experiment might be compatible with the existence of a long-range scalar contribution to gravity (such as the dilation field, or a moduli field, of string theory). This provides a new theoretical paradigm, and new motivations for improving the experimental tests of gravity

Comparison of upright LBPP and supine LBNP in terms of cardiovascular and biomechanical parameters to simulate 1/6-G (lunar gravity) and 3/8-G (Martian gravity) activities

Science.gov (United States)

Schlabs, Thomas; Rosales-Velderrain, Armando; Ruckstuhl, Heidi; Richardson, Sara E.; Hargens, Alan

Background: Missions of astronauts to Moon and Mars may be planned in the future. From over 40 years of manned spaceflight it is known that the human body experiences cardiovascular and musculoskeletal losses and a decrease in aerobic fitness while exposed to reduced gravity. Because future missions will be much longer than before, further research is needed to improve Earth-based simulations of reduced gravity. Among others, two methods are capable of simu-lating fractional gravity on Earth: upright Lower Body Positive Pressure (LBPP) and supine Lower Body Negative Pressure (LBNP). No previous study has directly compared these two methods to determine which method is better suited to simulate both the biomechanical and cardiovascular responses of performing activity in lunar (1/6-G) and Martian (3/8-G) gravities. Taken previous studies into account and considering the fact that supine posture is closer to the established 10 head-up-tilt lunar simulation, we hypothesized that exercise performed in supine LBNP better simulates the cardiovascular conditions that occur in lunar and Martian gravities. Methods: 12 healthy normal subjects underwent a protocol consisting of resting and walking (0.25 Froude) with LBNP and LBPP. Each protocol was performed in simulated 1/6-G and 3/8-G. Heart-rate (HR), blood pressure, oxygen consumption (VO2), vertical component of the ground reaction force, comfort of the subject and perceived exertion of the subject (Borg Scale) were assessed. The obtained parameters were compared to predicted values for lunar and Martian gravity conditions in order to determine the method that shows the best level of agreement. Results: There was no difference in gait parameters between LBPP and LBNP simulation of lunar and Martian gravity (cadence: P=0.427, normalized stride length: P=0.373, duty fac-tor: P=0.302, and normalized vertical peak force (P=0.064). Mean blood pressure (P=0.398), comfort (P=0.832) and BORG rating (P=0.186) did not differ

A Model of Gravity Vector Measurement Noise for Estimating Accelerometer Bias in Gravity Disturbance Compensation.

Science.gov (United States)

Tie, Junbo; Cao, Juliang; Chang, Lubing; Cai, Shaokun; Wu, Meiping; Lian, Junxiang

2018-03-16

Compensation of gravity disturbance can improve the precision of inertial navigation, but the effect of compensation will decrease due to the accelerometer bias, and estimation of the accelerometer bias is a crucial issue in gravity disturbance compensation. This paper first investigates the effect of accelerometer bias on gravity disturbance compensation, and the situation in which the accelerometer bias should be estimated is established. The accelerometer bias is estimated from the gravity vector measurement, and a model of measurement noise in gravity vector measurement is built. Based on this model, accelerometer bias is separated from the gravity vector measurement error by the method of least squares. Horizontal gravity disturbances are calculated through EGM2008 spherical harmonic model to build the simulation scene, and the simulation results indicate that precise estimations of the accelerometer bias can be obtained with the proposed method.

A Model of Gravity Vector Measurement Noise for Estimating Accelerometer Bias in Gravity Disturbance Compensation

Science.gov (United States)

Cao, Juliang; Cai, Shaokun; Wu, Meiping; Lian, Junxiang

2018-01-01

Compensation of gravity disturbance can improve the precision of inertial navigation, but the effect of compensation will decrease due to the accelerometer bias, and estimation of the accelerometer bias is a crucial issue in gravity disturbance compensation. This paper first investigates the effect of accelerometer bias on gravity disturbance compensation, and the situation in which the accelerometer bias should be estimated is established. The accelerometer bias is estimated from the gravity vector measurement, and a model of measurement noise in gravity vector measurement is built. Based on this model, accelerometer bias is separated from the gravity vector measurement error by the method of least squares. Horizontal gravity disturbances are calculated through EGM2008 spherical harmonic model to build the simulation scene, and the simulation results indicate that precise estimations of the accelerometer bias can be obtained with the proposed method. PMID:29547552

Influence of uneven distribution of coupling mass on locomotive wheel pairs, its tractive power, straight and curved sections of industrial rail tracks.

Science.gov (United States)

Keropyan, A. M.; Kantovich, L. I.; Voronin, B. V.; Kuziev, D. A.; Zotov, V. V.

2017-10-01

This article deals with the problems of unloading the axes of wheel sets of locomotives of industrial railway transport by the example of exploitation in conditions of open chasing works. Studies have established that the displacement of the center of mass of an open-pit locomotive depends primarily on the height of the center of gravity, the height of the location of the hook of the locomotive coupling over the rails and the slope of the track. Therefore, to increase the coefficient of utilization of the adhesive weight and to ensure rational operating conditions, it is necessary to provide an adjustable displacement of the locomotive’s center of mass taking into account the actual operating conditions, including when driving on rectilinear and curvilinear sections of the track. Analysis of calculation results showed that for the traction unit OPE1 when driving in traction mode in close to the extreme operating conditions, it is necessary to provide a constructive solution for displacement of the center of mass of the locomotive up to 0.5 m in the course of movement of the locomotive’s center of mass.

Using Computational and Mechanical Models to Study Animal Locomotion

Science.gov (United States)

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

2012-01-01

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

Peristaltic Wave Locomotion and Shape Morphing with a Millipede Inspired System

Science.gov (United States)

Spinello, Davide; Fattahi, Javad S.

2017-08-01

We present the mechanical model of a bio-inspired deformable system, modeled as a Timoshenko beam, which is coupled to a substrate by a system of distributed elements. The locomotion action is inspired by the coordinated motion of coupling elements that mimic the legs of millipedes and centipedes, whose leg-to-ground contact can be described as a peristaltic displacement wave. The multi-legged structure is crucial in providing redundancy and robustness in the interaction with unstructured environments and terrains. A Lagrangian approach is used to derive the governing equations of the system that couple locomotion and shape morphing. Features and limitations of the model are illustrated with numerical simulations.

Bioinspired template-based control of legged locomotion

OpenAIRE

Ahmad Sharbafi, Maziar

2018-01-01

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

Locomotive monitoring system using wireless sensor networks

CSIR Research Space (South Africa)

Croucamp, PL

2014-07-01

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

Baby universes with induced gravity

International Nuclear Information System (INIS)

Gao Yihong; Gao Hongbo

1989-01-01

In this paper some quantum effects of baby universes with induced gravity are discussed. It is proved that the interactions between the baby-parent universes are non-local, and argue that the induced low-energy cosmological constant is zero. This argument does not depend on the detail of the induced potential

Swimming at low Reynolds number: a beginners guide to undulatory locomotion

Science.gov (United States)

Cohen, Netta; Boyle, Jordan H.

2010-03-01

Undulatory locomotion is a means of self-propulsion that relies on the generation and propagation of waves along a body. As a mode of locomotion it is primitive and relatively simple, yet can be remarkably robust. No wonder then, that it is so prevalent across a range of biological scales from motile bacteria to gigantic prehistoric snakes. Key to understanding undulatory locomotion is the body's interplay with the physical environment, which the swimmer or crawler will exploit to generate propulsion, and in some cases, even to generate the underlying undulations. This review focuses by and large on undulators in the low Reynolds number regime, where the physics of the environment can be much more tractable. We review some key concepts and theoretical advances, as well as simulation tools and results applied to selected examples of biological swimmers. In particular, we extend the discussion to some simple cases of locomotion in non-Newtonian media as well as to small animals, in which the nervous system, motor control, body properties and the environment must all be considered to understand how undulations are generated and modulated. To conclude, we review recent progress in microrobotic undulators that may one day become commonplace in applications ranging from toxic waste disposal to minimally invasive surgery.

Einstein's Gravity and Dark Energy/Matter

CERN Document Server

Sarfatti, J

2003-01-01

Should Einstein's general relativity be quantized in the usual way even though it is not renormalizable the way the spin 1/2 lepto-quark - spin 1 gauge force boson local field theories are? Condensed matter theorists using P.W. Anderson's "More is different" approach, consistent with Andrei Sakharov's idea of "metric elasticity" with gravity emergent out of quantum electrodynamic zero point vacuum fluctuations, is the approach I take in this paper. The QED vacuum in globally-flat Minkowski space-time is unstable due to exchange of virtual photons between virtual electrons and positron "holes" near the -mc2 Fermi surface well inside the 2mc2 energy gap. This results in a non-perturbative emergence of both Einstein's gravity and a unified dark energy/dark matter w = -1 exotic vacuum zero point fluctuation field controlled by the local macro-quantum vacuum coherent field. The latter is a Bose-Einstein condensate of virtual off-mass-shell bound electron-positron pairs. The dark matter exotic vacuum phase with pos...

Locomotive Schedule Optimization for Da-qin Heavy Haul Railway

Directory of Open Access Journals (Sweden)

Ruiye Su

2015-01-01

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

Fundamentals of soft robot locomotion.

Science.gov (United States)

Calisti, M; Picardi, G; Laschi, C

2017-05-01

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

Contact enhancement of locomotion in spreading cell colonies

Science.gov (United States)

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

2017-10-01

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

Locomotion Dynamics for Bio-inspired Robots with Soft Appendages: Application to Flapping Flight and Passive Swimming

Science.gov (United States)

Boyer, Frédéric; Porez, Mathieu; Morsli, Ferhat; Morel, Yannick

2017-08-01

In animal locomotion, either in fish or flying insects, the use of flexible terminal organs or appendages greatly improves the performance of locomotion (thrust and lift). In this article, we propose a general unified framework for modeling and simulating the (bio-inspired) locomotion of robots using soft organs. The proposed approach is based on the model of Mobile Multibody Systems (MMS). The distributed flexibilities are modeled according to two major approaches: the Floating Frame Approach (FFA) and the Geometrically Exact Approach (GEA). Encompassing these two approaches in the Newton-Euler modeling formalism of robotics, this article proposes a unique modeling framework suited to the fast numerical integration of the dynamics of a MMS in both the FFA and the GEA. This general framework is applied on two illustrative examples drawn from bio-inspired locomotion: the passive swimming in von Karman Vortex Street, and the hovering flight with flexible flapping wings.

Newton-Cartan gravity and torsion

Science.gov (United States)

Bergshoeff, Eric; Chatzistavrakidis, Athanasios; Romano, Luca; Rosseel, Jan

2017-10-01

We compare the gauging of the Bargmann algebra, for the case of arbitrary torsion, with the result that one obtains from a null-reduction of General Relativity. Whereas the two procedures lead to the same result for Newton-Cartan geometry with arbitrary torsion, the null-reduction of the Einstein equations necessarily leads to Newton-Cartan gravity with zero torsion. We show, for three space-time dimensions, how Newton-Cartan gravity with arbitrary torsion can be obtained by starting from a Schrödinger field theory with dynamical exponent z = 2 for a complex compensating scalar and next coupling this field theory to a z = 2 Schrödinger geometry with arbitrary torsion. The latter theory can be obtained from either a gauging of the Schrödinger algebra, for arbitrary torsion, or from a null-reduction of conformal gravity.

Zero-point energy conservation in classical trajectory simulations: Application to H2CO

Science.gov (United States)

Lee, Kin Long Kelvin; Quinn, Mitchell S.; Kolmann, Stephen J.; Kable, Scott H.; Jordan, Meredith J. T.

2018-05-01

A new approach for preventing zero-point energy (ZPE) violation in quasi-classical trajectory (QCT) simulations is presented and applied to H2CO "roaming" reactions. Zero-point energy may be problematic in roaming reactions because they occur at or near bond dissociation thresholds and these channels may be incorrectly open or closed depending on if, or how, ZPE has been treated. Here we run QCT simulations on a "ZPE-corrected" potential energy surface defined as the sum of the molecular potential energy surface (PES) and the global harmonic ZPE surface. Five different harmonic ZPE estimates are examined with four, on average, giving values within 4 kJ/mol—chemical accuracy—for H2CO. The local harmonic ZPE, at arbitrary molecular configurations, is subsequently defined in terms of "projected" Cartesian coordinates and a global ZPE "surface" is constructed using Shepard interpolation. This, combined with a second-order modified Shepard interpolated PES, V, allows us to construct a proof-of-concept ZPE-corrected PES for H2CO, Veff, at no additional computational cost to the PES itself. Both V and Veff are used to model product state distributions from the H + HCO → H2 + CO abstraction reaction, which are shown to reproduce the literature roaming product state distributions. Our ZPE-corrected PES allows all trajectories to be analysed, whereas, in previous simulations, a significant proportion was discarded because of ZPE violation. We find ZPE has little effect on product rotational distributions, validating previous QCT simulations. Running trajectories on V, however, shifts the product kinetic energy release to higher energy than on Veff and classical simulations of kinetic energy release should therefore be viewed with caution.

The Need for Speed in Rodent Locomotion Analyses

Science.gov (United States)

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

2016-01-01

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

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

Science.gov (United States)

2010-07-01

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

Locomotion Gait Planning of Climber Snake-Like Robot

Directory of Open Access Journals (Sweden)

Mohammad Nezaminia

2013-04-01

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

In Pipe Robot with Hybrid Locomotion System

Directory of Open Access Journals (Sweden)

Cristian Miclauş

2015-06-01

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

Multi-modal locomotion: from animal to application

International Nuclear Information System (INIS)

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

2014-01-01

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

Steam Locomotives: a forgotten era

African Journals Online (AJOL)

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

Development of a Novel Locomotion Algorithm for Snake Robot

International Nuclear Information System (INIS)

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

2013-01-01

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

Locomotion through Morphosis

DEFF Research Database (Denmark)

Larsen, Jørgen Christian

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

Using Computational and Mechanical Models to Study Animal Locomotion

OpenAIRE

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

2012-01-01

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

Efficient worm-like locomotion: slip and control of soft-bodied peristaltic robots

International Nuclear Information System (INIS)

Daltorio, Kathryn A; Horchler, Andrew D; Quinn, Roger D; Boxerbaum, Alexander S; Shaw, Kendrick M; Chiel, Hillel J

2013-01-01

In this work, we present a dynamic simulation of an earthworm-like robot moving in a pipe with radially symmetric Coulomb friction contact. Under these conditions, peristaltic locomotion is efficient if slip is minimized. We characterize ways to reduce slip-related losses in a constant-radius pipe. Using these principles, we can design controllers that can navigate pipes even with a narrowing in radius. We propose a stable heteroclinic channel controller that takes advantage of contact force feedback on each segment. In an example narrowing pipe, this controller loses 40% less energy to slip compared to the best-fit sine wave controller. The peristaltic locomotion with feedback also has greater speed and more consistent forward progress. (paper)

Efficient worm-like locomotion: slip and control of soft-bodied peristaltic robots.

Science.gov (United States)

Daltorio, Kathryn A; Boxerbaum, Alexander S; Horchler, Andrew D; Shaw, Kendrick M; Chiel, Hillel J; Quinn, Roger D

2013-09-01

In this work, we present a dynamic simulation of an earthworm-like robot moving in a pipe with radially symmetric Coulomb friction contact. Under these conditions, peristaltic locomotion is efficient if slip is minimized. We characterize ways to reduce slip-related losses in a constant-radius pipe. Using these principles, we can design controllers that can navigate pipes even with a narrowing in radius. We propose a stable heteroclinic channel controller that takes advantage of contact force feedback on each segment. In an example narrowing pipe, this controller loses 40% less energy to slip compared to the best-fit sine wave controller. The peristaltic locomotion with feedback also has greater speed and more consistent forward progress

Complexity growth in minimal massive 3D gravity

Science.gov (United States)

Qaemmaqami, Mohammad M.

2018-01-01

We study the complexity growth by using "complexity =action " (CA) proposal in the minimal massive 3D gravity (MMG) model which is proposed for resolving the bulk-boundary clash problem of topologically massive gravity (TMG). We observe that the rate of the complexity growth for Banados-Teitelboim-Zanelli (BTZ) black hole saturates the proposed bound by physical mass of the BTZ black hole in the MMG model, when the angular momentum parameter and the inner horizon of black hole goes to zero.

Nonlocal gravity

CERN Document Server

Mashhoon, Bahram

2017-01-01

Relativity theory is based on a postulate of locality, which means that the past history of the observer is not directly taken into account. This book argues that the past history should be taken into account. In this way, nonlocality---in the sense of history dependence---is introduced into relativity theory. The deep connection between inertia and gravitation suggests that gravity could be nonlocal, and in nonlocal gravity the fading gravitational memory of past events must then be taken into account. Along this line of thought, a classical nonlocal generalization of Einstein's theory of gravitation has recently been developed. A significant consequence of this theory is that the nonlocal aspect of gravity appears to simulate dark matter. According to nonlocal gravity theory, what astronomers attribute to dark matter should instead be due to the nonlocality of gravitation. Nonlocality dominates on the scale of galaxies and beyond. Memory fades with time; therefore, the nonlocal aspect of gravity becomes wea...

Locomotive Crash Energy Management Coupling Tests

Science.gov (United States)

2018-04-18

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

High-resolution gravity model of Venus

Science.gov (United States)

Reasenberg, R. D.; Goldberg, Z. M.

1992-01-01

The anomalous gravity field of Venus shows high correlation with surface features revealed by radar. We extract gravity models from the Doppler tracking data from the Pioneer Venus Orbiter by means of a two-step process. In the first step, we solve the nonlinear spacecraft state estimation problem using a Kalman filter-smoother. The Kalman filter has been evaluated through simulations. This evaluation and some unusual features of the filter are discussed. In the second step, we perform a geophysical inversion using a linear Bayesian estimator. To allow an unbiased comparison between gravity and topography, we use a simulation technique to smooth and distort the radar topographic data so as to yield maps having the same characteristics as our gravity maps. The maps presented cover 2/3 of the surface of Venus and display the strong topography-gravity correlation previously reported. The topography-gravity scatter plots show two distinct trends.

Lunar Bouguer gravity anomalies - Imbrian age craters

Science.gov (United States)

Dvorak, J.; Phillips, R. J.

1978-01-01

The Bouguer gravity of mass anomalies associated with four Imbrian age craters, analyzed in the present paper, are found to differ considerably from the values of the mass anomalies associated with some young lunar craters. Of the Imbrian age craters, only Piccolomini exhibits a negative gravity anomaly (i.e., a low density region) which is characteristic of the young craters studied. The Bouguer gravity anomalies are zero for each of the remaining Imbrian age craters. Since, Piccolomini is younger, or at least less modified, than the other Imbrian age craters, it is suggested that the processes responsible for the post-impact modification of the Imbrian age craters may also be responsible for removing the negative mass anomalies initially associated with these features.

76 FR 2199 - Locomotive Safety Standards

Science.gov (United States)

2011-01-12

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

Highlighting the harmonic regime generated by electric locomotives equipped with DC motors

Science.gov (United States)

Baciu, I.; Cunţan, C. D.

2018-01-01

The paper presents the results of measurements made using the C.A. 8334 power quality analyzer on an electric locomotive equipped with DC motors. We carried out determinations of the current-voltage regime using a locomotive motor. The harmonic regime of the other motors being identical to the analysed one, we could easily deduce the effects caused by the entire locomotive. The data measured with the analyzer were firstly transferred into a computer system using the Qualistar software, followed by data processing in Excel, enabling therefore a graphical representation of the characteristic parameters of power quality. Based on the acquired data, we determined the power factor, as well as the active, reactive and apparent power. The measurements revealed high values of the current harmonics, fact that required some measures to be taken for reducing the values of these harmonics. For this, we ran a simulation using the PSCAD/EMTDC software, by introducing LC filters in tune with the harmonic frequencies. The result was a significant reduction in the harmonic regime, either in the harmonics values or the power factor and reactive power.

49 CFR 230.108 - Steam locomotive leading and trailing trucks.

Science.gov (United States)

2010-10-01

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

Problems of locomotive wheel wear in fleet replacement

Directory of Open Access Journals (Sweden)

L.P. Lingaytis

2013-08-01

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

77 FR 21311 - Locomotive Safety Standards

Science.gov (United States)

2012-04-09

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

A Review and Comparison of Mouse and Rat Responses to Micro Gravity, Hyper Gravity and Simulated Models of Partial Gravity; Species Differences, Gaps in the Available Data, and Consideration of the Advantages and Caveats of Each Model for Spaceflight

Science.gov (United States)

Donovan, F. M.; Gresser, A. L.; Sato, Kevin Y.; Taylor, Elizabeth M.

2018-01-01

Laboratory strains of mice and rat are widely used to study mammalian responses to stimulus, and both have been studied under a variety of gravity conditions, including space flight. We compared results obtained from exposure to spaceflight and microgravity, hyper gravity via centrifugation, earth gravity, and models of simulated partial gravity (hind-limb unloading and partial weight bearing treatments). We examined the reported changes in survival, body mass, circadian rhythm (body temperature and activity levels), behavior, bone, muscle, immune, cardio-vasculature, vestibular, reproduction and neonate survival, microbiome, and the visual system. Not all categories have published data for both species, some have limited data, and there are variations in experiment design that allow for only relative comparisons to be considered. The data reveal species differences in both the level of gravity required to obtain a response, degree of response, and in temporal expression of responses. Examination of the data across the gravity levels allows consideration of the hypothesis that gravitational responses follow a continuum, and organ specific differences are noted. In summary, we present advantages and caveats of each model system as pertains to gravitational biology research and identify gaps in our knowledge of how these mammals respond to gravity.

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

Science.gov (United States)

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

2017-06-20

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

Blunt impact tests of retired passenger locomotive fuel tanks

Science.gov (United States)

2017-08-01

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

Quasi-Resonant Full-Wave Zero-Current Switching Buck Converter Design, Simulation and Application

OpenAIRE

Yanik, G.; Isen, E.

2015-01-01

—This paper presents a full wave quasi-resonant zerocurrent switching buck converter design, simulation and application. The converter control uses with zero-current switching (ZCS) technique to decrease the switching losses. Comparing to conventional buck converter, resonant buck converter includes a resonant tank equipped with resonant inductor and capacitor. The converter is analyzed in mathematical for each subintervals. Depending on the desired input and output electrical quantities, con...

Discussion of entanglement entropy in quantum gravity

International Nuclear Information System (INIS)

Ma, Chen-Te

2018-01-01

We study entanglement entropy in gravity theory with quantum effects. A simplest model is a two dimensional Einstein gravity theory. We use an n-sheet manifold to obtain an area term of entanglement entropy by summing over all background fields. Based on AdS/CFT correspondence, strongly coupled conformal field theory is expected to describe perturbative quantum gravity theory. An ultraviolet complete quantum gravity theory should not depend on a choice of an entangling surface. To analysis the problem explicitly, we analyze two dimensional conformal field theory. We find that a coefficient of a universal term of entanglement entropy is independent of a choice of an entangling surface in two dimensional conformal field theory for one interval to show a tentative evidence. Finally, we discuss that translational invariance in a quantum system at zero temperature, size goes to infinity and no mass scales, except for cut-off, possibly be a necessary condition in quantum gravity theory by ruing out a volume law of entanglement entropy. (copyright 2018 WILEY-VCH Verlag GmbH and Co. KGaA, Weinheim)

Different performances in static and dynamic imagery and real locomotion. An exploratory trial.

Directory of Open Access Journals (Sweden)

Augusto eFusco

2014-10-01

Full Text Available Motor imagery is a mental representation of an action without its physical execution. Recently, the simultaneous movement of the body has been added to the mental simulation. This refers to dynamic motor imagery (dMI. This study was aimed at analyzing the temporal features for static and dMI in different locomotor conditions (natural walking, NW, light running, LR, lateral walking, LW, backward walking, BW, and whether these performances were more related to all the given conditions or present only in walking. We have been also evaluated the steps performed in the dMI in comparison with the ones performed by real locomotion. Twenty healthy participants (29.3 ± 5.1 y. old were asked to move towards a visualized target located at 10mt. In dMI, no significant temporal differences respect the actual locomotion were found for all the given tasks (NW: p=0.058, LR: p=0.636, BW: p=0.096; LW: p=0,487. Significant temporal differences between static imagery and actual movements were found for LR (p<0.001 and LW (p<0.001, due to an underestimation of time needed to achieve the target in imagined locomotion. Significant differences in terms of number of steps among tasks were found for LW (p<0.001 and BW (p=0.036, whereas neither in NW (p=0.124 nor LR (p=0.391 between dMI and real locomotion.Our results confirmed that motor imagery is a task-dependent process, with walking being temporally closer than other locomotor conditions. Moreover, the time records of dynamic motor imagery are nearer to the ones of actual locomotion respect than the ones of static motor imagery. Keywords: Walking, dynamic motor imagery, human locomotion, chronometry.

FORMALIZATION OF LOCOMOTIVE DRIVER ACTIVITY TENSION INDICATOR BASED ON THE ERGONOMIC MODEL

Directory of Open Access Journals (Sweden)

O. M. Horobchenko

2017-02-01

Full Text Available Purpose. A key factor contributing to the safety and quality of ergatic system "train-driver" is the intensity of the locomotive crew’s work. The aim of this work is formalization of locomotive driver activity tension indicator. Methodology. One of the characteristics of driver activity tension is the difference between the time allotted to complete the task, and the necessary (external reserve or deficiency time. The sets of major and minor operations in the management of the train locomotive in different train situations were identified. Using the methods of fuzzy logic, the concept of "materiality of the operation of the locomotive control" is presented in the form of a set of linguistic variables. To determine the function membership of the elements of the set "the importance of the operation of the locomotive control" the method of expert evaluations was used. Coefficient of temporary tension is presented in the form of fuzzy number L-R-type. Findings. It was found the value of the relative number of operations of locomotive control according to the distribution using the parameter of operation "importance". To determine the most tensioned mode of the driver ranking the traffic condition according to the parameter of relative amounts of the important management operations was conducted. The most difficult modes are the "front hindrance", "movement in unfavorable weather conditions" and "departure from the station to the running line". Originality. The introduction of the value "conventional importance of the operation" allowed us to more accurately describe the terms of train driving. For the first time the work presents determination of tension of the driver’s work in the form of a unimodal fuzzy number, which will make it possible to use the methods of the theory of artificial intelligence to simulate activity of the locomotive driver and develop intelligent control systems. Practical value. There were obtained the opportunity to

The mechanics of slithering locomotion.

Science.gov (United States)

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

2009-06-23

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

Automated Burris gravity meter for single and continuous observation

Directory of Open Access Journals (Sweden)

Gerhard Jentzsch

2018-05-01

Full Text Available The Burris Gravity Meter™ manufactured by ZLS Corporation, Austin/Texas, USA, is based on the invention of L&R (L. LaCoste and A. Romberg: The ZLS (zero-length spring. A digital feedback system (range of about 50 mGal is used to null the beam. Now, more than 120 gravity meters of this make exist worldwide and are used successfully in exploration, volcanology, geodetic work and surveying.The sensor is made of the well-known (L&R metal-alloy zero-length spring providing a low drift characteristic. The drifts observed are comparable to L&R gravimeters and are less than 0.3 mGal per month, which is much lower than the drifts known for the fused quartz sensors.The dial is calibrated every 50 mGal over the entire 7000 mGal meter range. Since the gravity value is determined at these points, there are no periodic errors. By a fourth heater circuit temperature effects are totally avoided. The gravity meter is controlled via Bluetooth® either to a handheld computer (tablet or a notebook computer.The feedback responds with high stability and accuracy. The nulling of the beam is controlled by the UltraGrav™ control system which incorporates an inherently linear PWM (pulse-width modulated electrostatic feedback system. In order to improve the handling of the gravimeter we have developed two Windows based programs: AGESfield for single measurements and AGEScont for continuous readings. Keywords: Gravimeter, Micro-gravity measurements, Drift, Resolution, Single and continuous observations

Constellations of Next Generation Gravity Missions: Simulations regarding optimal orbits and mitigation of aliasing errors

Science.gov (United States)

Hauk, M.; Pail, R.; Gruber, T.; Purkhauser, A.

2017-12-01

The CHAMP and GRACE missions have demonstrated the tremendous potential for observing mass changes in the Earth system from space. In order to fulfil future user needs a monitoring of mass distribution and mass transport with higher spatial and temporal resolution is required. This can be achieved by a Bender-type Next Generation Gravity Mission (NGGM) consisting of a constellation of satellite pairs flying in (near-)polar and inclined orbits, respectively. For these satellite pairs the observation concept of the GRACE Follow-on mission with a laser-based low-low satellite-to-satellite tracking (ll-SST) system and more precise accelerometers and state-of-the-art star trackers is adopted. By choosing optimal orbit constellations for these satellite pairs high frequency mass variations will be observable and temporal aliasing errors from under-sampling will not be the limiting factor anymore. As part of the European Space Agency (ESA) study "ADDCON" (ADDitional CONstellation and Scientific Analysis Studies of the Next Generation Gravity Mission) a variety of mission design parameters for such constellations are investigated by full numerical simulations. These simulations aim at investigating the impact of several orbit design choices and at the mitigation of aliasing errors in the gravity field retrieval by co-parametrization for various constellations of Bender-type NGGMs. Choices for orbit design parameters such as altitude profiles during mission lifetime, length of retrieval period, value of sub-cycles and choice of prograde versus retrograde orbits are investigated as well. Results of these simulations are presented and optimal constellations for NGGM's are identified. Finally, a short outlook towards new geophysical applications like a near real time service for hydrology is given.

EVALUATION OF DYNAMIC INDICATORS OF SIX-AXLE LOCOMOTIVE

Directory of Open Access Journals (Sweden)

S. V. Myamlin

2015-04-01

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

Micro-gravity Isolation using only Electro-magnetic Actuators

DEFF Research Database (Denmark)

Vinther, D.; Alminde, Lars; Bisgaard, Morten

in the Sixth Student Parabolic Flight Campaign issued by the European Space Agency (ESA). The system consists of six custom made electro magnetic actuators which acts on the isolated platform based on the designed controller and their input from six accelerometers and six infrared position sensors. From......In this paper the design, construction and test of a free floating micro-gravity isolation platform to reduce the acceleration dose on zero gravity experiments on e.g. the International Space Station (ISS) is discussed. During the project a system is specified and constructed whereupon it is tested...

Micro-gravity Isolation using only Electro-magnetic Actuators

DEFF Research Database (Denmark)

Vinther, D.; Alminde, Lars; Bisgaard, Morten

2004-01-01

in the Sixth Student Parabolic Flight Campaign issued by the European Space Agency (ESA). The system consists of six custom made electro magnetic actuators which acts on the isolated platform based on the designed controller and their input from six accelerometers and six infrared position sensors. >From......In this paper the design, construction and test of a free floating micro-gravity isolation platform to reduce the acceleration dose on zero gravity experiments on e.g. the International Space Station (ISS) is discussed. During the project a system is specified and constructed whereupon it is tested...

Fundamentals of soft robot locomotion

OpenAIRE

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

2017-01-01

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

Full Tensor Gradient of Simulated Gravity Data for Prospect Scale Delineation

Directory of Open Access Journals (Sweden)

Hendra Grandis

2014-07-01

Full Text Available Gravity gradiometry measurement allows imaging of anomalous sources in more detail than conventional gravity data. The availability of this new technique is limited to airborne gravity surveys using very specific instrumentation. In principle, the gravity gradients can be calculated from the vertical component of the gravity commonly measured in a ground-based gravity survey. We present a calculation of the full tensor gradient (FTG of the gravity employing the Fourier transformation. The calculation was applied to synthetic data associated with a simple block model and also with a more realistic model. The latter corresponds to a 3D model in which a thin coal layer is embedded in a sedimentary environment. Our results show the utility of the FTG of the gravity for prospect scale delineation.

Railroad and locomotive technology roadmap.

Energy Technology Data Exchange (ETDEWEB)

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

2003-02-24

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

Spacecraft Data Simulator for the test of level zero processing systems

Science.gov (United States)

Shi, Jeff; Gordon, Julie; Mirchandani, Chandru; Nguyen, Diem

1994-01-01

The Microelectronic Systems Branch (MSB) at Goddard Space Flight Center (GSFC) has developed a Spacecraft Data Simulator (SDS) to support the development, test, and verification of prototype and production Level Zero Processing (LZP) systems. Based on a disk array system, the SDS is capable of generating large test data sets up to 5 Gigabytes and outputting serial test data at rates up to 80 Mbps. The SDS supports data formats including NASA Communication (Nascom) blocks, Consultative Committee for Space Data System (CCSDS) Version 1 & 2 frames and packets, and all the Advanced Orbiting Systems (AOS) services. The capability to simulate both sequential and non-sequential time-ordered downlink data streams with errors and gaps is crucial to test LZP systems. This paper describes the system architecture, hardware and software designs, and test data designs. Examples of test data designs are included to illustrate the application of the SDS.

A simulated test of physical starting and reactor physics on zero power facility of PWR

International Nuclear Information System (INIS)

Yao Zewu; Ji Huaxiang; Chen Zhicheng; Yao Zhiquan; Chen Chen; Li Yuwen

1995-01-01

The core neutron economics has been verified through experiments conducted at a zero power reactor with baffles of various thickness. A simulated test of physical starting of Qinshan PWR has been introduced. The feasibility and safety of the programme are verified. The research provides a valuable foundation for developing physical starting programme

Active Response Gravity Offload System

Science.gov (United States)

Valle, Paul; Dungan, Larry; Cunningham, Thomas; Lieberman, Asher; Poncia, Dina

2011-01-01

The Active Response Gravity Offload System (ARGOS) provides the ability to simulate with one system the gravity effect of planets, moons, comets, asteroids, and microgravity, where the gravity is less than Earth fs gravity. The system works by providing a constant force offload through an overhead hoist system and horizontal motion through a rail and trolley system. The facility covers a 20 by 40-ft (approximately equals 6.1 by 12.2m) horizontal area with 15 ft (approximately equals4.6 m) of lifting vertical range.

The Human Central Pattern Generator for Locomotion.

Science.gov (United States)

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

2017-03-01

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

Review of lattice supersymmetry and gauge-gravity duality

International Nuclear Information System (INIS)

Joseph, Anosh

2015-12-01

We review the status of recent investigations on validating the gauge-gravity duality conjecture through numerical simulations of strongly coupled maximally supersymmetric thermal gauge theories. In the simplest setting, the gauge-gravity duality connects systems of D0-branes and black hole geometries at finite temperature to maximally supersymmetric gauged quantum mechanics at the same temperature. Recent simulations show that non-perturbative gauge theory results give excellent agreement with the quantum gravity predictions, thus proving strong evidence for the validity of the duality conjecture and more insight into quantum black holes and gravity.

Influence of AC system design on the realisation of tractive efforts by high adhesion locomotives

Science.gov (United States)

Spiryagin, Maksym; Wolfs, Peter; Cole, Colin; Stichel, Sebastian; Berg, Mats; Manfred, Plöchl

2017-08-01

The main task for heavy haul railway operators is to reduce the cost of exported minerals and enhance the long-term viability of rail transport operations through increasing productivity by running longer and heavier trains. The common opinion is that this is achievable by means of implementation of high adhesion locomotives with advanced AC traction technologies. Modern AC high adhesion locomotives are very complex mechatronic systems and can be designed with two alternative traction topologies of either bogie or individual axle controls. This paper describes a modelling approach for these two types of AC traction systems with the application of an advanced co-simulation methodology, where an electrical system and a traction algorithm are modelled in Matlab/Simulink, and a mechanical system is modelled in a multibody software package. Although the paper concentrates on the analysis of the functioning for these two types of traction control systems, the choice of reference slip values also has an influence on the performance of both systems. All these design variations and issues have been simulated for various adhesion conditions at the wheel-rail interface and their influence on the high traction performance of a locomotive equipped with two three-axle bogies has been discussed.

High-resolution simulations of unstable cylindrical gravity currents undergoing wandering and splitting motions in a rotating system

Science.gov (United States)

Dai, Albert; Wu, Ching-Sen

2018-02-01

High-resolution simulations of unstable cylindrical gravity currents when wandering and splitting motions occur in a rotating system are reported. In this study, our attention is focused on the situation of unstable rotating cylindrical gravity currents when the ratio of Coriolis to inertia forces is larger, namely, 0.5 ≤ C ≤ 2.0, in comparison to the stable ones when C ≤ 0.3 as investigated previously by the authors. The simulations reproduce the major features of the unstable rotating cylindrical gravity currents observed in the laboratory, i.e., vortex-wandering or vortex-splitting following the contraction-relaxation motion, and good agreement is found when compared with the experimental results on the outrush radius of the advancing front and on the number of bulges. Furthermore, the simulations provide energy budget information which could not be attained in the laboratory. After the heavy fluid is released, the heavy fluid collapses and a contraction-relaxation motion is at work for approximately 2-3 revolutions of the system. During the contraction-relaxation motion of the heavy fluid, the unstable rotating cylindrical gravity currents behave similar to the stable ones. Towards the end of the contraction-relaxation motion, the dissipation rate in the system reaches a local minimum and a quasi-geostrophic equilibrium state is reached. After the quasi-geostrophic equilibrium state, vortex-wandering or vortex-splitting may occur depending on the ratio of Coriolis to inertia forces. The vortex-splitting process begins with non-axisymmetric bulges and, as the bulges grow, the kinetic energy increases at the expense of decreasing potential energy in the system. The completion of vortex-splitting is accompanied by a local maximum of dissipation rate and a local maximum of kinetic energy in the system. A striking feature of the unstable rotating cylindrical gravity currents is the persistent upwelling and downwelling motions, which are observed for both the

Entropic force, noncommutative gravity, and ungravity

International Nuclear Information System (INIS)

Nicolini, Piero

2010-01-01

After recalling the basic concepts of gravity as an emergent phenomenon, we analyze the recent derivation of Newton's law in terms of entropic force proposed by Verlinde. By reviewing some points of the procedure, we extend it to the case of a generic quantum gravity entropic correction to get compelling deviations to the Newton's law. More specifically, we study: (1) noncommutative geometry deviations and (2) ungraviton corrections. As a special result in the noncommutative case, we find that the noncommutative character of the manifold would be equivalent to the temperature of a thermodynamic system. Therefore, in analogy to the zero temperature configuration, the description of spacetime in terms of a differential manifold could be obtained only asymptotically. Finally, we extend the Verlinde's derivation to a general case, which includes all possible effects, noncommutativity, ungravity, asymptotically safe gravity, electrostatic energy, and extra dimensions, showing that the procedure is solid versus such modifications.

New Massive Gravity and AdS4 Counterterms

International Nuclear Information System (INIS)

Jatkar, Dileep P.; Sinha, Aninda

2011-01-01

We show that the recently proposed Dirac-Born-Infeld extension of new massive gravity emerges naturally as a counterterm in four-dimensional anti-de Sitter space (AdS 4 ). The resulting on-shell Euclidean action is independent of the cutoff at zero temperature. We also find that the same choice of counterterm gives the usual area law for the AdS 4 Schwarzschild black hole entropy in a cutoff-independent manner. The parameter values of the resulting counterterm action correspond to a c=0 theory in the context of the duality between AdS 3 gravity and two-dimensional conformal field theory. We rewrite this theory in terms of the gauge field that is used to recast 3D gravity as a Chern-Simons theory.

Le Shuttle, the locomotive from Eurotunnel

OpenAIRE

Gabriel MOISA

2002-01-01

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

A Multiscale Nested Modeling Framework to Simulate the Interaction of Surface Gravity Waves with Nonlinear Internal Gravity Waves

Science.gov (United States)

2015-09-30

Interaction of Surface Gravity Waves with Nonlinear Internal Gravity Waves Lian Shen St. Anthony Falls Laboratory and Department of Mechanical...on studying surface gravity wave evolution and spectrum in the presence of surface currents caused by strongly nonlinear internal solitary waves...interaction of surface and internal gravity waves in the South China Sea. We will seek answers to the following questions: 1) How does the wind-wave

Apollo-Soyuz pamphlet no. 8: Zero-g technology. [experimental designispace processing and aerospace engineering

Science.gov (United States)

Page, L. W.; From, T. P.

1977-01-01

The behavior of liquids in zero gravity environments is discussed with emphasis on foams, wetting, and wicks. A multipurpose electric furnace (MA-010) for the high temperature processing of metals and salts in zero-g is described. Experiments discussed include: monolectic and synthetic alloys (MA-041); multiple material melting point (MA-150); zero-g processing of metals (MA-070); surface tension induced convection (MA-041); halide eutectic growth; interface markings in crystals (MA-060); crystal growth from the vapor phase (MA-085); and photography of crystal growth (MA-028).

49 CFR 230.101 - Steam locomotive driving journal boxes.

Science.gov (United States)

2010-10-01

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

Model for modulated and chaotic waves in zero-Prandtl-number ...

Indian Academy of Sciences (India)

The effects of time-periodic forcing in a few-mode model for zero-Prandtl-number convection with rigid body rotation is investigated. The time-periodic modulation of the rotation rate about the vertical axis and gravity modulation are considered separately. In the presence of periodic variation of the rotation rate, the model ...

DESIGN IMPROVEMENT OF THE LOCOMOTIVE RUNNING GEARS

Directory of Open Access Journals (Sweden)

S. V. Myamlin

2013-09-01

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

More on Weinberg's no-go theorem in quantum gravity

Science.gov (United States)

Nagahama, Munehiro; Oda, Ichiro

2018-05-01

We complement Weinberg's no-go theorem on the cosmological constant problem in quantum gravity by generalizing it to the case of a scale-invariant theory. Our analysis makes use of the effective action and the BRST symmetry in a manifestly covariant quantum gravity instead of the classical Lagrangian density and the G L (4 ) symmetry in classical gravity. In this sense, our proof is very general since it does not depend on details of quantum gravity and holds true for general gravitational theories which are invariant under diffeomorphisms. As an application of our theorem, we comment on an idea that in the asymptotic safety scenario the functional renormalization flow drives a cosmological constant to zero, solving the cosmological constant problem without reference to fine tuning of parameters. Finally, we also comment on the possibility of extending the Weinberg theorem in quantum gravity to the case where the translational invariance is spontaneously broken.

Criticality in third order lovelock gravity and butterfly effect

International Nuclear Information System (INIS)

Qaemmaqami, Mohammad M.

2018-01-01

We study third order Lovelock Gravity in D = 7 at the critical point which three (A)dS vacua degenerate into one. We see there is not propagating graviton at the critical point. And also we compute the butterfly velocity for this theory at the critical point by considering the shock wave solutions near horizon, this is important to note that although there is no propagating graviton at the critical point, due to boundary gravitons the butterfly velocity is non-zero. Finally we observe that the butterfly velocity for third order Lovelock Gravity at the critical point in D = 7 is less than the butterfly velocity for Einstein-Gauss-Bonnet Gravity at the critical point in D = 7 which is less than the butterfly velocity in D = 7 for Einstein Gravity, v B E.H > v B E.G.B > v B 3rdLovelock . Maybe we can conclude that by adding higher order curvature corrections to Einstein Gravity the butterfly velocity decreases. (orig.)

Criticality in third order lovelock gravity and butterfly effect

Science.gov (United States)

Qaemmaqami, Mohammad M.

2018-01-01

We study third order Lovelock Gravity in D=7 at the critical point which three (A)dS vacua degenerate into one. We see there is not propagating graviton at the critical point. And also we compute the butterfly velocity for this theory at the critical point by considering the shock wave solutions near horizon, this is important to note that although there is no propagating graviton at the critical point, due to boundary gravitons the butterfly velocity is non-zero. Finally we observe that the butterfly velocity for third order Lovelock Gravity at the critical point in D=7 is less than the butterfly velocity for Einstein-Gauss-Bonnet Gravity at the critical point in D=7 which is less than the butterfly velocity in D = 7 for Einstein Gravity, vB^{E.H}>vB^{E.G.B}>vB^{3rd Lovelock} . Maybe we can conclude that by adding higher order curvature corrections to Einstein Gravity the butterfly velocity decreases.

Boldness and intermittent locomotion in the bluegill sunfish, Lepomis macrochirus

OpenAIRE

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

2009-01-01

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

Anticipating the effects of visual gravity during simulated self-motion: estimates of time-to-passage along vertical and horizontal paths.

Science.gov (United States)

Indovina, Iole; Maffei, Vincenzo; Lacquaniti, Francesco

2013-09-01

By simulating self-motion on a virtual rollercoaster, we investigated whether acceleration cued by the optic flow affected the estimate of time-to-passage (TTP) to a target. In particular, we studied the role of a visual acceleration (1 g = 9.8 m/s(2)) simulating the effects of gravity in the scene, by manipulating motion law (accelerated or decelerated at 1 g, constant speed) and motion orientation (vertical, horizontal). Thus, 1-g-accelerated motion in the downward direction or decelerated motion in the upward direction was congruent with the effects of visual gravity. We found that acceleration (positive or negative) is taken into account but is overestimated in module in the calculation of TTP, independently of orientation. In addition, participants signaled TTP earlier when the rollercoaster accelerated downward at 1 g (as during free fall), with respect to when the same acceleration occurred along the horizontal orientation. This time shift indicates an influence of the orientation relative to visual gravity on response timing that could be attributed to the anticipation of the effects of visual gravity on self-motion along the vertical, but not the horizontal orientation. Finally, precision in TTP estimates was higher during vertical fall than when traveling at constant speed along the vertical orientation, consistent with a higher noise in TTP estimates when the motion violates gravity constraints.

Le Shuttle, the locomotive from Eurotunnel

Directory of Open Access Journals (Sweden)

Gabriel MOISA

2002-12-01

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

The Need for Speed in Rodent Locomotion Analyses

OpenAIRE

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

2014-01-01

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

Hybrid magnetic mechanism for active locomotion based on inchworm motion

International Nuclear Information System (INIS)

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

2013-01-01

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

A Lifshitz black hole in four dimensional R2 gravity

International Nuclear Information System (INIS)

Cai Ronggen; Liu Yan; Sun Yawen

2009-01-01

We consider a higher derivative gravity theory in four dimensions with a negative cosmological constant and show that vacuum solutions of both Lifshitz type and Schroedinger type with arbitrary dynamical exponent z exist in this system. Then we find an analytic black hole solution which asymptotes to the vacuum Lifshitz solution with z = 3/2 at a specific value of the coupling constant. We analyze the thermodynamic behavior of this black hole and find that the black hole has zero entropy while non-zero temperature, which is very similar to the case of BTZ black holes in new massive gravity at a specific coupling. In addition, we find that the three dimensional Lifshitz black hole recently found by E. Ayon-Beato et al. has a negative entropy and mass when the Newton constant is taken to be positive.

Finite-element modeling of compression and gravity on a population of breast phantoms for multimodality imaging simulation.

Science.gov (United States)

Sturgeon, Gregory M; Kiarashi, Nooshin; Lo, Joseph Y; Samei, E; Segars, W P

2016-05-01

The authors are developing a series of computational breast phantoms based on breast CT data for imaging research. In this work, the authors develop a program that will allow a user to alter the phantoms to simulate the effect of gravity and compression of the breast (craniocaudal or mediolateral oblique) making the phantoms applicable to multimodality imaging. This application utilizes a template finite-element (FE) breast model that can be applied to their presegmented voxelized breast phantoms. The FE model is automatically fit to the geometry of a given breast phantom, and the material properties of each element are set based on the segmented voxels contained within the element. The loading and boundary conditions, which include gravity, are then assigned based on a user-defined position and compression. The effect of applying these loads to the breast is computed using a multistage contact analysis in FEBio, a freely available and well-validated FE software package specifically designed for biomedical applications. The resulting deformation of the breast is then applied to a boundary mesh representation of the phantom that can be used for simulating medical images. An efficient script performs the above actions seamlessly. The user only needs to specify which voxelized breast phantom to use, the compressed thickness, and orientation of the breast. The authors utilized their FE application to simulate compressed states of the breast indicative of mammography and tomosynthesis. Gravity and compression were simulated on example phantoms and used to generate mammograms in the craniocaudal or mediolateral oblique views. The simulated mammograms show a high degree of realism illustrating the utility of the FE method in simulating imaging data of repositioned and compressed breasts. The breast phantoms and the compression software can become a useful resource to the breast imaging research community. These phantoms can then be used to evaluate and compare imaging

Dual simulation of the massless lattice Schwinger model with topological term and non-zero chemical potential

Science.gov (United States)

Göschl, Daniel

2018-03-01

We discuss simulation strategies for the massless lattice Schwinger model with a topological term and finite chemical potential. The simulation is done in a dual representation where the complex action problem is solved and the partition function is a sum over fermion loops, fermion dimers and plaquette-occupation numbers. We explore strategies to update the fermion loops coupled to the gauge degrees of freedom and check our results with conventional simulations (without topological term and at zero chemical potential), as well as with exact summation on small volumes. Some physical implications of the results are discussed.

Effects of gravity and inlet/outlet location on a two-phase cocurrent imbibition in porous media

KAUST Repository

El-Amin, Mohamed; Sun, S.

2011-01-01

by several previous studies. Also, we note that the 2D zero gravity model has a uniform flow and may be represented as 1D flow unlike the 2D nonzero gravity model showing a nonuniform flow. Copyright 2011 M. F. El-Amin and Shuyu Sun.

On truncated Taylor series and the position of their spurious zeros

DEFF Research Database (Denmark)

Christiansen, Søren; Madsen, Per A.

2006-01-01

A truncated Taylor series, or a Taylor polynomial, which may appear when treating the motion of gravity water waves, is obtained by truncating an infinite Taylor series for a complex, analytical function. For such a polynomial the position of the complex zeros is considered in case the Taylor...

Design of a biped locomotion controller based on adaptive neuro-fuzzy inference systems

Energy Technology Data Exchange (ETDEWEB)

Shieh, M-Y; Chang, K-H [Department of E. E., Southern Taiwan University, 1 Nantai St., YungKang City, Tainan County 71005, Taiwan (China); Lia, Y-S [Executive Director Office, ITRI, Southern Taiwan Innovation Park, Tainan County, Taiwan (China)], E-mail: myshieh@mail.stut.edu.tw

2008-02-15

This paper proposes a method for the design of a biped locomotion controller based on the ANFIS (Adaptive Neuro-Fuzzy Inference System) inverse learning model. In the model developed here, an integrated ANFIS structure is trained to function as the system identifier for the modeling of the inverse dynamics of a biped robot. The parameters resulting from the modeling process are duplicated and integrated as those of the biped locomotion controller to provide favorable control action. As the simulation results show, the proposed controller is able to generate a stable walking cycle for a biped robot. Moreover, the experimental results demonstrate that the performance of the proposed controller is satisfactory under conditions when the robot stands in different postures or moves on a rugged surface.

Design of a biped locomotion controller based on adaptive neuro-fuzzy inference systems

International Nuclear Information System (INIS)

Shieh, M-Y; Chang, K-H; Lia, Y-S

2008-01-01

This paper proposes a method for the design of a biped locomotion controller based on the ANFIS (Adaptive Neuro-Fuzzy Inference System) inverse learning model. In the model developed here, an integrated ANFIS structure is trained to function as the system identifier for the modeling of the inverse dynamics of a biped robot. The parameters resulting from the modeling process are duplicated and integrated as those of the biped locomotion controller to provide favorable control action. As the simulation results show, the proposed controller is able to generate a stable walking cycle for a biped robot. Moreover, the experimental results demonstrate that the performance of the proposed controller is satisfactory under conditions when the robot stands in different postures or moves on a rugged surface

Lizard locomotion in heterogeneous granular media

Science.gov (United States)

Schiebel, Perrin; Goldman, Daniel

2014-03-01

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

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

OpenAIRE

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

2017-01-01

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

Architectures of soft robotic locomotion enabled by simple mechanical principles.

Science.gov (United States)

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

2017-06-28

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

Cardiovascular effects of simulated zero-gravity in humans

Science.gov (United States)

Bonde-Petersen, F.; Suzuki, Y.; Sadámoto, T.; Juel Christensen, N.

Head-down and heat-up tilted bedrest (5 degrees) and head out water immersion (HOWI) for 6 hr were compared. Parameters: Cardiac output (rebreathing method), blood pressure (arm cuff), forearm blood flow (venous occlusion plethysmography), total peripheral (TPR), and forearm vascular (FVR) resistances, Hct, Hb, relativē plasma volume (PV) changes, and plasma catecholamines (single-isotope assay). During HOWI there was as expected a decrement in TPR, FVR, Mean arterial pressure (MAP, from 100 to 80 mmHg), Hct, and PV, and—as a new finding—catecholamines, which were 30-50% lower compared with both + 5 and - 5 degrees bedrest. During head down tilt, MAP was elevated (to 100-110 mmHg) and catecholamines did not fall, while TPR and FVR slowly decreased over 6 hr. HOWI is a stronger stimulus than - 5 degrees bedrest, probably because HOWI elevates central venous pressure more markedly emptying the peripheral veins, while bedrest permits a distension of veins, which induces an increase in sympathetic nervous activity.

The investigation of the locomotive boiler material

International Nuclear Information System (INIS)

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

2006-01-01

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

On the Newtonian limit of emergent NC gravity and long-distance corrections

International Nuclear Information System (INIS)

Steinacker, Harold

2009-01-01

We show how Newtonian gravity emerges on 4-dimensional non-commutative spacetime branes in Yang-Mills matrix models. Large matter clusters such as galaxies are embedded in large-scale harmonic deformations of the space-time brane, which screen gravity for long distances. On shorter scales, the local matter distribution reproduces Newtonian gravity via local deformations of the brane and its metric. The harmonic 'gravity bag' acts as a halo with effective positive energy density. This leads in particular to a significant enhancement of the orbital velocities around galaxies at large distances compared with the Newtonian case, before dropping to zero as the geometry merges with a Milne-like cosmology. Besides these 'harmonic' solutions, there is another class of solutions which is more similar to Einstein gravity. Thus the IKKT model provides an accessible candidate for a quantum theory of gravity.

Processing yttrium-barium-copper oxide superconductor zero gravity using a double float zone surface

International Nuclear Information System (INIS)

Pettit, D.R.; Peterson, D.E.; Kubat-Martin, K.A.; Petrovic, J.J.; Sheinberg, H.; Coulter, Y.; Day, D.E.

1997-04-01

The effects of processing YBa 2 Cu 3 O x (Y123) superconductor in the near-zero gravity (0g) environment provided by the NASA KC-135 airplane flying on parabolic trajectories were studied. A new sheet float zone furnace, designed for this study, enabled fast temperature ramps. Up to an 18-gram sample was processed with each parabola. Samples of Y123 were processed as bulk sheets, composites containing Ag and Pd, and films deposited on single crystal Si and MgO substrates. The 0g-processed samples were multi-phase yet retained a localized Y123 stoichiometry where a single ground-based (1g) oxygen anneal at temperatures of 800 C recovered nearly 100-volume percent superconducting Y123. The 1g processed control samples remained multi-phase after the same ground-based anneal with less than 45 volume percent as superconducting Y123. The superconducting transition temperature was 91 K for both 0g and 1g processed samples. A 29 wt.% Ag/Y123 composite had a transition temperature of 93 K. Melt texturing of bulk Y123 in 0g produced aligned grains about a factor of three larger than in analogous 1g samples. Transport critical current densities were at or below 18 A/cm 2 , due to the formation of cracks caused by the rapid heating rates required by the short time at 0g. Y123 deposited on single crystal Si and MgO in 0g was 30 vol.% y123 without an anneal. A weak superconducting transition at 80 K on MgO showed that substrate interactions occurred

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

Science.gov (United States)

2010-10-01

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

Analysis of fuel cell hybrid locomotives

Energy Technology Data Exchange (ETDEWEB)

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

2006-07-03

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

Noncommutative geometry inspired black holes in Rastall gravity

Energy Technology Data Exchange (ETDEWEB)

Ma, Meng-Sen [Shanxi Datong University, Institute of Theoretical Physics, Datong (China); Shanxi Datong University, Department of Physics, Datong (China); Zhao, Ren [Shanxi Datong University, Institute of Theoretical Physics, Datong (China)

2017-09-15

Under two different metric ansatzes, the noncommutative geometry inspired black holes (NCBH) in the framework of Rastall gravity are derived and analyzed. We consider the fluid-type matter with the Gaussian-distribution smeared mass density. Taking a Schwarzschild-like metric ansatz, it is shown that the noncommutative geometry inspired Schwarzschild black hole (NCSBH) in Rastall gravity, unlike its counterpart in general relativity (GR), is not a regular black hole. It has at most one event horizon. After showing a finite maximal temperature, the black hole will leave behind a point-like massive remnant at zero temperature. Considering a more general metric ansatz and a special equation of state of the matter, we also find a regular NCBH in Rastall gravity, which has a similar geometric structure and temperature to that of NCSBH in GR. (orig.)

49 CFR 230.106 - Steam locomotive frame.

Science.gov (United States)

2010-10-01

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

Distribution of spinal neuronal networks controlling forward and backward locomotion.

Science.gov (United States)

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

2018-04-20

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

N-body simulations for f(R) gravity using a self-adaptive particle-mesh code

International Nuclear Information System (INIS)

Zhao Gongbo; Koyama, Kazuya; Li Baojiu

2011-01-01

We perform high-resolution N-body simulations for f(R) gravity based on a self-adaptive particle-mesh code MLAPM. The chameleon mechanism that recovers general relativity on small scales is fully taken into account by self-consistently solving the nonlinear equation for the scalar field. We independently confirm the previous simulation results, including the matter power spectrum, halo mass function, and density profiles, obtained by Oyaizu et al.[Phys. Rev. D 78, 123524 (2008)] and Schmidt et al.[Phys. Rev. D 79, 083518 (2009)], and extend the resolution up to k∼20 h/Mpc for the measurement of the matter power spectrum. Based on our simulation results, we discuss how the chameleon mechanism affects the clustering of dark matter and halos on full nonlinear scales.

Expression of emotion in the kinematics of locomotion.

Science.gov (United States)

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

2013-03-01

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

Zero modes in de Sitter background

Energy Technology Data Exchange (ETDEWEB)

Einhorn, Martin B. [Kavli Institute for Theoretical Physics, University of California,Santa Barbara, CA 93106-4030 (United States); Jones, D.R. Timothy [Kavli Institute for Theoretical Physics, University of California,Santa Barbara, CA 93106-4030 (United States); Dept. of Mathematical Sciences, University of Liverpool,Liverpool L69 3BX (United Kingdom)

2017-03-28

There are five well-known zero modes among the fluctuations of the metric of de Sitter (dS) spacetime. For Euclidean signature, they can be associated with certain spherical harmonics on the S{sup 4} sphere, viz., the vector representation 5 of the global SO(5) isometry. They appear, for example, in the perturbative calculation of the on-shell effective action of dS space, as well as in models containing matter fields. These modes are shown to be associated with collective modes of S{sup 4} corresponding to certain coherent fluctuations. When dS space is embedded in flat five dimensions E{sup 5}, they may be seen as a legacy of translation of the center of the S{sup 4} sphere. Rigid translations of the S{sup 4}-sphere on E{sup 5} leave the classical action invariant but are unobservable displacements from the point of view of gravitational dynamics on S{sup 4}. Thus, unlike similar moduli, the center of the sphere is not promoted to a dynamical degree of freedom. As a result, these zero modes do not signify the possibility of physically realizable fluctuations or flat directions for the metric of dS space. They are not associated with Killing vectors on S{sup 4} but can be identified with certain non-isometric, conformal Killing forms that locally correspond to a rescaling of the volume element dV{sub 4}. We frame much of our discussion in the context of renormalizable gravity, but, to the extent that they only depend upon the global symmetry of the background, the conclusions should apply equally to the corresponding zero modes found in Einstein gravity. Although their existence has only been demonstrated at one-loop, we expect that these zero modes will be present to all orders in perturbation theory. They will occur for Lorentzian signature as well, so long as the hyperboloid H{sup 4} is locally stable, but there remain certain infrared issues that need to be clarified. We conjecture that they will appear in any gravitational theory having dS background as a

Development of human locomotion.

Science.gov (United States)

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

2012-10-01

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

Modeling and simulating the neuromuscular mechanisms regulating ankle and knee joint stiffness during human locomotion.

Science.gov (United States)

Sartori, Massimo; Maculan, Marco; Pizzolato, Claudio; Reggiani, Monica; Farina, Dario

2015-10-01

This work presents an electrophysiologically and dynamically consistent musculoskeletal model to predict stiffness in the human ankle and knee joints as derived from the joints constituent biological tissues (i.e., the spanning musculotendon units). The modeling method we propose uses electromyography (EMG) recordings from 13 muscle groups to drive forward dynamic simulations of the human leg in five healthy subjects during overground walking and running. The EMG-driven musculoskeletal model estimates musculotendon and resulting joint stiffness that is consistent with experimental EMG data as well as with the experimental joint moments. This provides a framework that allows for the first time observing 1) the elastic interplay between the knee and ankle joints, 2) the individual muscle contribution to joint stiffness, and 3) the underlying co-contraction strategies. It provides a theoretical description of how stiffness modulates as a function of muscle activation, fiber contraction, and interacting tendon dynamics. Furthermore, it describes how this differs from currently available stiffness definitions, including quasi-stiffness and short-range stiffness. This work offers a theoretical and computational basis for describing and investigating the neuromuscular mechanisms underlying human locomotion. Copyright © 2015 the American Physiological Society.

Research on one Bio-inspired Jumping Locomotion Robot for Search and Rescue

Directory of Open Access Journals (Sweden)

Dunwen Wei

2014-10-01

Full Text Available Jumping locomotion is much more effective than other locomotion means in order to tackle the unstructured and complex environment in research and rescue. Here, a bio-inspired jumping robot with a closed-chain mechanism is proposed to achieve the power amplification during taking-off. Through actuating one variable transmission mechanism to change the transmission ratio, the jumping robot reveals biological characteristics in the phase of posture adjustment when adjusting the height and distance of one jump. The kinematics and dynamics of the simplified jumping mechanism model in one jumping cycle sequence are analysed. A compliant contact model considering nonlinear damping is investigated for jumping performance under different terrain characteristics. The numerical simulation algorithm with regard to solving the dynamical equation is described and simulation results are discussed. Finally, one primary prototype and experiment are described. The experimental results show the distance of jumping in the horizontal direction increases with the increasing gear ratio, while the height of jumping decreases in reverse. The jumping robot can enhance the capability to adapt to unknown cluttered environments, such as those encountered in research and rescue, using this strategy.

Dynamic investigation of a locomotive with effect of gear transmissions under tractive conditions

Science.gov (United States)

Chen, Zaigang; Zhai, Wanming; Wang, Kaiyun

2017-11-01

Locomotive is used to drag trailers to move or supply the braking forces to slow the running speed of a train. The electromagnetic torque of the motor is always transmitted by the gear transmission system to the wheelset for generation of the tractive or braking forces at the wheel-rail contact interface. Consequently, gear transmission system is significant for power delivery of a locomotive. This paper develops a comprehensive locomotive-track vertical-longitudinal coupled dynamics model with dynamic effect of gear transmissions. This dynamics model enables considering the coupling interactions between the gear transmission motion, the vertical and the longitudinal motions of the vehicle, and the vertical vibration of the track structure. In this study, some complicated dynamic excitations, such as the gear time-varying mesh stiffness, nonlinear gear tooth backlash, the nonlinear wheel-rail normal contact force and creep force, and the rail vertical geometrical irregularity, are considered. Then, the dynamic responses of the locomotive under the tractive conditions are demonstrated by numerical simulations based on the established dynamics model and by experimental test. The developed dynamics model is validated by the good agreement between the experimental and the theoretical results. The calculated results reveal that the gear transmission system has strong dynamic interactions with the wheel-rail contact interface including both the vertical and the longitudinal motions, and it has negligible effect on the vibrations of the bogie frame and carbody.

A possibility to solve the problems with quantizing gravity

International Nuclear Information System (INIS)

Hossenfelder, Sabine

2013-01-01

It is generally believed that quantum gravity is necessary to resolve the known tensions between general relativity and the quantum field theories of the standard model. Since perturbatively quantized gravity is non-renormalizable, the problem how to unify all interactions in a common framework has been open since the 1930s. Here, I propose a possibility to circumvent the known problems with quantizing gravity, as well as the known problems with leaving it unquantized: By changing the prescription for second quantization, a perturbative quantization of gravity is sufficient as an effective theory because matter becomes classical before the perturbative expansion breaks down. This is achieved by considering the vanishing commutator between a field and its conjugated momentum as a symmetry that is broken at low temperatures, and by this generates the quantum phase that we currently live in, while at high temperatures Planck's constant goes to zero

A simple model for correcting the zero point energy problem in classical trajectory simulations of polyatomic molecules

International Nuclear Information System (INIS)

Miller, W.H.; Hase, W.L.; Darling, C.L.

1989-01-01

A simple model is proposed for correcting problems with zero point energy in classical trajectory simulations of dynamical processes in polyatomic molecules. The ''problems'' referred to are that classical mechanics allows the vibrational energy in a mode to decrease below its quantum zero point value, and since the total energy is conserved classically this can allow too much energy to pool in other modes. The proposed model introduces hard sphere-like terms in action--angle variables that prevent the vibrational energy in any mode from falling below its zero point value. The algorithm which results is quite simple in terms of the cartesian normal modes of the system: if the energy in a mode k, say, decreases below its zero point value at time t, then at this time the momentum P k for that mode has its sign changed, and the trajectory continues. This is essentially a time reversal for mode k (only exclamation point), and it conserves the total energy of the system. One can think of the model as supplying impulsive ''quantum kicks'' to a mode whose energy attempts to fall below its zero point value, a kind of ''Planck demon'' analogous to a Brownian-like random force. The model is illustrated by application to a model of CH overtone relaxation

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

Science.gov (United States)

2011-09-01

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

On the Hamiltonian formalism of the tetrad-gravity with fermions

Science.gov (United States)

Lagraa, M. H.; Lagraa, M.

2018-06-01

We extend the analysis of the Hamiltonian formalism of the d-dimensional tetrad-connection gravity to the fermionic field by fixing the non-dynamic part of the spatial connection to zero (Lagraa et al. in Class Quantum Gravity 34:115010, 2017). Although the reduced phase space is equipped with complicated Dirac brackets, the first-class constraints which generate the diffeomorphisms and the Lorentz transformations satisfy a closed algebra with structural constants analogous to that of the pure gravity. We also show the existence of a canonical transformation leading to a new reduced phase space equipped with Dirac brackets having a canonical form leading to the same algebra of the first-class constraints.

Origami-based earthworm-like locomotion robots.

Science.gov (United States)

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

2017-10-16

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

On the role of radiation and dimensionality in predicting flow opposed flame spread over thin fuels

Science.gov (United States)

Kumar, Chenthil; Kumar, Amit

2012-06-01

In this work a flame-spread model is formulated in three dimensions to simulate opposed flow flame spread over thin solid fuels. The flame-spread model is coupled to a three-dimensional gas radiation model. The experiments [1] on downward spread and zero gravity quiescent spread over finite width thin fuel are simulated by flame-spread models in both two and three dimensions to assess the role of radiation and effect of dimensionality on the prediction of the flame-spread phenomena. It is observed that while radiation plays only a minor role in normal gravity downward spread, in zero gravity quiescent spread surface radiation loss holds the key to correct prediction of low oxygen flame spread rate and quenching limit. The present three-dimensional simulations show that even in zero gravity gas radiation affects flame spread rate only moderately (as much as 20% at 100% oxygen) as the heat feedback effect exceeds the radiation loss effect only moderately. However, the two-dimensional model with the gas radiation model badly over-predicts the zero gravity flame spread rate due to under estimation of gas radiation loss to the ambient surrounding. The two-dimensional model was also found to be inadequate for predicting the zero gravity flame attributes, like the flame length and the flame width, correctly. The need for a three-dimensional model was found to be indispensable for consistently describing the zero gravity flame-spread experiments [1] (including flame spread rate and flame size) especially at high oxygen levels (>30%). On the other hand it was observed that for the normal gravity downward flame spread for oxygen levels up to 60%, the two-dimensional model was sufficient to predict flame spread rate and flame size reasonably well. Gas radiation is seen to increase the three-dimensional effect especially at elevated oxygen levels (>30% for zero gravity and >60% for normal gravity flames).

Dilute suspensions in annular shear flow under gravity: simulation and experiment

Directory of Open Access Journals (Sweden)

Schröer Kevin

2017-01-01

Full Text Available A dilute suspension in annular shear flow under gravity was simulated using multi-particle collision dynamics (MPC and compared to experimental data. The focus of the analysis is the local particle velocity and density distribution under the influence of the rotational and gravitational forces. The results are further supported by a deterministic approximation of a single-particle trajectory and OpenFOAM CFD estimations of the overcritical frequency range. Good qualitative agreement is observed for single-particle trajectories between the statistical mean of MPC simulations and the deterministic approximation. Wall contact and detachment however occur earlier in the MPC simulation, which can be explained by the inherent thermal noise of the method. The multi-particle system is investigated at the point of highest particle accumulation that is found at 2/3 of the particle revolution, starting from the top of the annular gap. The combination of shear flow and a slowly rotating volumetric force leads to strong local accumulation in this section that increases the particle volume fraction from overall 0.7% to 4.7% at the outer boundary. MPC simulations and experimental observations agree well in terms of particle distribution and a close to linear velocity profile in radial direction.

Three Least-Squares Minimization Approaches to Interpret Gravity Data Due to Dipping Faults

Science.gov (United States)

Abdelrahman, E. M.; Essa, K. S.

2015-02-01

We have developed three different least-squares minimization approaches to determine, successively, the depth, dip angle, and amplitude coefficient related to the thickness and density contrast of a buried dipping fault from first moving average residual gravity anomalies. By defining the zero-anomaly distance and the anomaly value at the origin of the moving average residual profile, the problem of depth determination is transformed into a constrained nonlinear gravity inversion. After estimating the depth of the fault, the dip angle is estimated by solving a nonlinear inverse problem. Finally, after estimating the depth and dip angle, the amplitude coefficient is determined using a linear equation. This method can be applied to residuals as well as to measured gravity data because it uses the moving average residual gravity anomalies to estimate the model parameters of the faulted structure. The proposed method was tested on noise-corrupted synthetic and real gravity data. In the case of the synthetic data, good results are obtained when errors are given in the zero-anomaly distance and the anomaly value at the origin, and even when the origin is determined approximately. In the case of practical data (Bouguer anomaly over Gazal fault, south Aswan, Egypt), the fault parameters obtained are in good agreement with the actual ones and with those given in the published literature.

How animals move: comparative lessons on animal locomotion.

Science.gov (United States)

Schaeffer, Paul J; Lindstedt, Stan L

2013-01-01

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

Emotion through locomotion: gender impact.

Directory of Open Access Journals (Sweden)

Samuel Krüger

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

Nonlocal gravity simulates dark matter

OpenAIRE

Hehl, Friedrich W.; Mashhoon, Bahram

2009-01-01

A nonlocal generalization of Einstein's theory of gravitation is constructed within the framework of the translational gauge theory of gravity. In the linear approximation, the nonlocal theory can be interpreted as linearized general relativity but in the presence of "dark matter" that can be simply expressed as an integral transform of matter. It is shown that this approach can accommodate the Tohline-Kuhn treatment of the astrophysical evidence for dark matter.

Ignition and combustion of bulk metals under elevated, normal and reduced gravity conditions

Science.gov (United States)

Abbud-Madrid, Angel; Branch, Melvyn C.; Daily, John W.

1995-01-01

This research effort is aimed at providing further insight into this multi-variable dependent phenomena by looking at the effects of gravity on the ignition and combustion behavior of metals. Since spacecraft are subjected to higher-than-1g gravity loads during launch and reentry and to zero-gravity environments while in orbit, the study of ignition and combustion of bulk metals at different gravitational potentials is of great practical concern. From the scientific standpoint, studies conducted under microgravity conditions provide simplified boundary conditions since buoyancy is removed, and make possible the identification of fundamental ignition mechanisms. The effect of microgravity on the combustion of bulk metals has been investigated by Steinberg, et al. on a drop tower simulator. However, no detailed quantitative work has been done on ignition phenomena of bulk metals at lower or higher-than-normal gravitational fields or on the combustion characteristics of metals at elevated gravity. The primary objective of this investigation is the development of an experimental system capable of providing fundamental physical and chemical information on the ignition of bulk metals under different gravity levels. The metals used in the study, iron (Fe), titanium (Ti), zirconium (Zr), magnesium (Mg), zinc (Zn), and copper (Cu) were selected because of their importance as elements of structural metals and their simple chemical composition (pure metals instead of multi-component alloys to avoid complication in morphology and spectroscopic studies). These samples were also chosen to study the two different combustion modes experienced by metals: heterogeneous or surface oxidation, and homogeneous or gas-phase reaction. The experimental approach provides surface temperature profiles, spectroscopic measurements, surface morphology, x-ray spectrometry of metals specimens and their combustion products, and high-speed cinematography of the heating, ignition and combustion

On the zero-crossing of the three-gluon Green's function from lattice simulations

Energy Technology Data Exchange (ETDEWEB)

Athenodorou, Andreas [Univ. of Cyprus, Nicosia, Cyprus; Boucaud, Philippe [Univ. Paris-Sud, Orsay (France); de Soto, Feliciano [Univ. Pablo de Olavide, 41013 Sevilla; Spain; Univ. of Granada (Spain); Rodriguez-Quintero, Jose [Universidad de Huelva, 21071 Huelva; Spain; Univ. of Granada (Spain); Zafeiropoulos, Savvas [Thomas Jefferson National Accelerator Facility (TJNAF), Newport News, VA (United States); College of William and Mary, Williamsburg, VA (United States); Heidelberg Univ. (Germany). Inst. for Theoretische Physik

2018-04-01

We report on some efforts recently made in order to gain a better understanding of some IR properties of the 3-point gluon Green’s function by exploiting results from large-volume quenched lattice simulations. These lattice results have been obtained by using both tree-level Symanzik and the standard Wilson action, in the aim of assessing the possible impact of effects presumably resulting from a particular choice for the discretization of the action. The main resulting feature is the existence of a negative log-aritmic divergence at zero-momentum, which pulls the 3-gluon form factors down at low momenta and, consequently, yields a zero-crossing at a given deep IR momentum. The results can be correctly explained by analyzing the relevant Dyson-Schwinger equations and appropriate truncation schemes.

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

Directory of Open Access Journals (Sweden)

L. Liudvinavičius

2009-12-01

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

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

Science.gov (United States)

2010-10-01

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

Criticality in third order lovelock gravity and butterfly effect

Energy Technology Data Exchange (ETDEWEB)

Qaemmaqami, Mohammad M. [Institute for Research in Fundamental Sciences (IPM), School of Particles and Accelerators, Tehran (Iran, Islamic Republic of)

2018-01-15

We study third order Lovelock Gravity in D = 7 at the critical point which three (A)dS vacua degenerate into one. We see there is not propagating graviton at the critical point. And also we compute the butterfly velocity for this theory at the critical point by considering the shock wave solutions near horizon, this is important to note that although there is no propagating graviton at the critical point, due to boundary gravitons the butterfly velocity is non-zero. Finally we observe that the butterfly velocity for third order Lovelock Gravity at the critical point in D = 7 is less than the butterfly velocity for Einstein-Gauss-Bonnet Gravity at the critical point in D = 7 which is less than the butterfly velocity in D = 7 for Einstein Gravity, v{sub B}{sup E.H} > v{sub B}{sup E.G.B} > v{sub B}{sup 3rdLovelock}. Maybe we can conclude that by adding higher order curvature corrections to Einstein Gravity the butterfly velocity decreases. (orig.)

A simplified approach for the simulation of water-in-oil emulsions in gravity separators

Energy Technology Data Exchange (ETDEWEB)

Lakehal, D.; Narayanan, C. [ASCOMP GmbH, Zurich (Switzerland); Vilagines, R.; Akhras, A.R. [Saudi Aramco, Dhahran (Saudi Arabia). Research and Development Center

2009-07-01

A new method of simulating 3-phase flow separation processes in a crude oil product was presented. The aim of the study was to increase the liquid capacity of the vessels and develop methods of testing variable flow entry procedures. The simulated system was based on gravity separation. Oil well streams were injected into large tanks where gas, oil and water were separated under the action of inertia and gravity. An interface tracking technique was combined with a Euler-Euler model developed as part of a computational fluid dynamics (CFD) program. Emulsion physics were modelled by interface tracking between the gas and oil-in-water liquid mixture. Additional scalar transport equations were solved in order to account for the diffusive process between the oil and water. Various settling velocity models were used to consider the settling of the dispersed water phase in oil. Changes in viscosity and non-Newtonian emulsion behaviour were also considered. The study showed that the interface tracking technique accurately predicted flow when combined with an emulsion model designed to account for the settling of water in the oil phase. Further research is now being conducted to validate computational results against in situ measurements. 13 refs., 1 tab., 8 figs.

Dynamic legged locomotion in robots and animals

Science.gov (United States)

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

1995-01-01

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

Continuum-regularized quantum gravity

International Nuclear Information System (INIS)

Chan Huesum; Halpern, M.B.

1987-01-01

The recent continuum regularization of d-dimensional Euclidean gravity is generalized to arbitrary power-law measure and studied in some detail as a representative example of coordinate-invariant regularization. The weak-coupling expansion of the theory illustrates a generic geometrization of regularized Schwinger-Dyson rules, generalizing previous rules in flat space and flat superspace. The rules are applied in a non-trivial explicit check of Einstein invariance at one loop: the cosmological counterterm is computed and its contribution is included in a verification that the graviton mass is zero. (orig.)

INFORMATION-MEASURING TEST SYSTEM OF DIESEL LOCOMOTIVE HYDRAULIC TRANSMISSIONS

Directory of Open Access Journals (Sweden)

I. V. Zhukovytskyy

2015-08-01

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

Hybrid Locomotion Evaluation for a Novel Amphibious Spherical Robot

Directory of Open Access Journals (Sweden)

Huiming Xing

2018-01-01

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

Efficient simulations of large-scale structure in modified gravity cosmologies with comoving Lagrangian acceleration

Science.gov (United States)

Valogiannis, Georgios; Bean, Rachel

2017-05-01

We implement an adaptation of the cola approach, a hybrid scheme that combines Lagrangian perturbation theory with an N-body approach, to model nonlinear collapse in chameleon and symmetron modified gravity models. Gravitational screening is modeled effectively through the attachment of a suppression factor to the linearized Klein-Gordon equations. The adapted cola approach is benchmarked, with respect to an N-body code both for the Λ cold dark matter (Λ CDM ) scenario and for the modified gravity theories. It is found to perform well in the estimation of the dark matter power spectra, with consistency of 1% to k ˜2.5 h /Mpc . Redshift space distortions are shown to be effectively modeled through a Lorentzian parametrization with a velocity dispersion fit to the data. We find that cola performs less well in predicting the halo mass functions but has consistency, within 1 σ uncertainties of our simulations, in the relative changes to the mass function induced by the modified gravity models relative to Λ CDM . The results demonstrate that cola, proposed to enable accurate and efficient, nonlinear predictions for Λ CDM , can be effectively applied to a wider set of cosmological scenarios, with intriguing properties, for which clustering behavior needs to be understood for upcoming surveys such as LSST, DESI, Euclid, and WFIRST.

Delocalization of brane gravity by a bulk black hole

International Nuclear Information System (INIS)

Seahra, Sanjeev S; Clarkson, Chris; Maartens, Roy

2005-01-01

We investigate the analogue of the Randall-Sundrum braneworld in the case when the bulk contains a black hole. Instead of the static vacuum Minkowski brane of the RS model, we have an Einstein static vacuum brane. We find that the presence of the bulk black hole has a dramatic effect on the gravity that is felt by brane observers. In the RS model, the 5D graviton has a stable localized zero mode that reproduces 4D gravity on the brane at low energies. With a bulk black hole, there is no such solution-gravity is delocalized by the 5D horizon. However, the brane does support a discrete spectrum of metastable massive bound states, or quasinormal modes, as was recently shown to be the case in the RS scenario. These states should dominate the high frequency component of the bulk gravity wave spectrum on a cosmological brane. We expect our results to generalize to any bulk spacetime containing a Killing horizon. (letter to the editor)

Modular control of limb movements during human locomotion

NARCIS (Netherlands)

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

2007-01-01

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

New observational constraints on f ( T ) gravity from cosmic chronometers

Energy Technology Data Exchange (ETDEWEB)

Nunes, Rafael C. [Departamento de Física, Universidade Federal de Juiz de Fora, 36036-330, Juiz de Fora, MG (Brazil); Pan, Supriya [Department of Physical Sciences, Indian Institute of Science Education and Research—Kolkata, Mohanpur—741246, West Bengal (India); Saridakis, Emmanuel N., E-mail: nunes@ecm.ub.edu, E-mail: span@iiserkol.ac.in, E-mail: Emmanuel_Saridakis@baylor.edu [Instituto de Física, Pontificia Universidad de Católica de Valparaíso, Casilla 4950, Valparaíso (Chile)

2016-08-01

We use the local value of the Hubble constant recently measured with 2.4% precision, as well as the latest compilation of cosmic chronometers data, together with standard probes such as Supernovae Type Ia and Baryon Acoustic Oscillation distance measurements, in order to impose constraints on the viable and most used f ( T ) gravity models, where T is the torsion scalar in teleparallel gravity. In particular, we consider three f ( T ) models with two parameters, out of which one is independent, and we quantify their deviation from ΛCDM cosmology through a sole parameter. Our analysis reveals that for one of the models a small but non-zero deviation from ΛCDM cosmology is slightly favored, while for the other models the best fit is very close to ΛCDM scenario. Clearly, f ( T ) gravity is consistent with observations, and it can serve as a candidate for modified gravity.

Shear waves in inhomogeneous, compressible fluids in a gravity field.

Science.gov (United States)

Godin, Oleg A

2014-03-01

While elastic solids support compressional and shear waves, waves in ideal compressible fluids are usually thought of as compressional waves. Here, a class of acoustic-gravity waves is studied in which the dilatation is identically zero, and the pressure and density remain constant in each fluid particle. These shear waves are described by an exact analytic solution of linearized hydrodynamics equations in inhomogeneous, quiescent, inviscid, compressible fluids with piecewise continuous parameters in a uniform gravity field. It is demonstrated that the shear acoustic-gravity waves also can be supported by moving fluids as well as quiescent, viscous fluids with and without thermal conductivity. Excitation of a shear-wave normal mode by a point source and the normal mode distortion in realistic environmental models are considered. The shear acoustic-gravity waves are likely to play a significant role in coupling wave processes in the ocean and atmosphere.

Gravity-dependent estimates of object mass underlie the generation of motor commands for horizontal limb movements.

Science.gov (United States)

Crevecoeur, F; McIntyre, J; Thonnard, J-L; Lefèvre, P

2014-07-15

Moving requires handling gravitational and inertial constraints pulling on our body and on the objects that we manipulate. Although previous work emphasized that the brain uses internal models of each type of mechanical load, little is known about their interaction during motor planning and execution. In this report, we examine visually guided reaching movements in the horizontal plane performed by naive participants exposed to changes in gravity during parabolic flight. This approach allowed us to isolate the effect of gravity because the environmental dynamics along the horizontal axis remained unchanged. We show that gravity has a direct effect on movement kinematics, with faster movements observed after transitions from normal gravity to hypergravity (1.8g), followed by significant movement slowing after the transition from hypergravity to zero gravity. We recorded finger forces applied on an object held in precision grip and found that the coupling between grip force and inertial loads displayed a similar effect, with an increase in grip force modulation gain under hypergravity followed by a reduction of modulation gain after entering the zero-gravity environment. We present a computational model to illustrate that these effects are compatible with the hypothesis that participants partially attribute changes in weight to changes in mass and scale incorrectly their motor commands with changes in gravity. These results highlight a rather direct internal mapping between the force generated during stationary holding against gravity and the estimation of inertial loads that limb and hand motor commands must overcome. Copyright © 2014 the American Physiological Society.

Stochastic Background of Relic Scalar Gravitational Waves tuned by Extended Gravity

International Nuclear Information System (INIS)

De Laurentis, Mariafelicia; Capozziello, Salvatore

2009-01-01

A stochastic background of relic gravitational waves is achieved by the so called adiabatically-amplified zero-point fluctuations process derived from early inflation. It provides a distinctive spectrum of relic gravitational waves. In the framework of scalar-tensor gravity, we discuss the scalar modes of gravitational waves and the primordial production of this scalar component which is generated beside tensorial one. Then analyze seven different viable f(R)-gravities towards the Solar System tests and stochastic gravitational waves background. It is demonstrated that seven viable f(R)-gravities under consideration not only satisfy the local tests, but additionally, pass the above PPN-and stochastic gravitational waves bounds for large classes of parameters.

Simulation of the Chang'E-5 mission contribution in lunar long wavelength gravity field improvement

Science.gov (United States)

Yan, Jianguo; Yang, Xuan; Ping, Jinsong; Ye, Mao; Liu, Shanhong; Jin, Weitong; Li, Fei; Barriot, Jean-Pierre

2018-06-01

The precision of lunar gravity field estimation has improved by means of three to five orders of magnitude since the successful GRAIL lunar mission. There are still discrepancies however, in the low degree coefficients and long wavelength components of the solutions developed by two space research centers (JPL and GSFC). These discrepancies hint at the possibilities for improving the accuracy in the long wavelength part of the lunar gravity field. In the near future, China will launch the Chang'E-5 lunar mission. In this sample-return mission, there will be a chance to do KBRR measurements between an ascending module and an orbiting module. These two modules will fly around lunar at an inclination of ˜49 degrees, with an orbital height of 100 km and an inter-satellite distance of 200 km. In our research, we simulated the contribution of the KBRR tracking mode for different GRAIL orbital geometries. This analysis indicated possible deficiencies in the low degree coefficient solutions for the polar satellite-to-satellite tracking mode at various orbital heights. We also investigated the potential contributions of the KBRR to the Chang'E-5 mission goal of lunar gravity field recovery, especially in the long wavelength component. Potential improvements were assessed using various power spectrums of the lunar gravity field models. In addition, we also investigated possible improvements in solving lunar tidal Love number K2. These results may assist the implementation of the Chang'E-5 mission.

Analysis of Cell Biomechanics Response to Gravity:A Fluids for Biology Study Utilizing NASA Glenns Zero Gravity Research Facility

Science.gov (United States)

Bomani, Bilal M. M.; Kassemi, Mohammad; Neumann, Eric S.

2016-01-01

It remains unclear how biological cells sense and respond to gravitational forces. Leading scientists state that a large gap exists in the understanding of physiological and molecular adaptation that occurs as biology enters the spaceflight realm. We are seeking a method to fully understand how cells sense microgravity/gravity and what triggers their response.

Advanced underground Vehicle Power and Control: The locomotive Research Platform

Energy Technology Data Exchange (ETDEWEB)

Vehicle Projects LLC

2003-01-28

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

The role of nucleotides in augmentation of lymphocyte locomotion: Adaptional countermeasure development in microgravity analog environments

Science.gov (United States)

Sundaresan, Alamelu; Kulkarni, Anil D.; Yamauchi, Keiko; Pellis, Neal R.

2006-09-01

Space travel and long-term space residence such as envisaged in the exploration era implicates burdens on the immune system. An optimal immune response is required to countered and with-stand exposure to pathogens. Countermeasure development is an important avenue in space research especially for long-term space exploration. Microgravity exposure causes detrimental effects in lymphocyte functions which may impair immune response. Impaired lymphocyte function can be remedied by bypassing cell membrane events. This is done by using compounds such as Phorbol Myristate Acetate (PMA). Since activation in mouse splenocytes was augmented using nucleotides, it was essential to observe their effects on human lymphocyte locomotion. A nucleotide/nucleoside (NT/NT) mixture from Otsuka Pharmaceuticals (Naruto, Japan) was used at recommended doses. In lymphocytes cultured in modeled microgravity, the NT/NT mixture used orchestrated locomotion recovery by more than 87%, similar to the response documented with PMA in lymphocytes. Both 12µM and 120µM doses worked similarly. These are preliminary results leading to the possible use of the NT/NT mixture to mitigate immune suppression in micro-gravity. More studies in this direction are required to delineate the role of NT/NT on the immune response in microgravity.

Nonlinearities in modified gravity cosmology: Signatures of modified gravity in the nonlinear matter power spectrum

International Nuclear Information System (INIS)

Cui Weiguang; Zhang Pengjie; Yang Xiaohu

2010-01-01

A large fraction of cosmological information on dark energy and gravity is encoded in the nonlinear regime. Precision cosmology thus requires precision modeling of nonlinearities in general dark energy and modified gravity models. We modify the Gadget-2 code and run a series of N-body simulations on modified gravity cosmology to study the nonlinearities. The modified gravity model that we investigate in the present paper is characterized by a single parameter ζ, which determines the enhancement of particle acceleration with respect to general relativity (GR), given the identical mass distribution (ζ=1 in GR). The first nonlinear statistics we investigate is the nonlinear matter power spectrum at k < or approx. 3h/Mpc, which is the relevant range for robust weak lensing power spectrum modeling at l < or approx. 2000. In this study, we focus on the relative difference in the nonlinear power spectra at corresponding redshifts where different gravity models have the same linear power spectra. This particular statistics highlights the imprint of modified gravity in the nonlinear regime and the importance of including the nonlinear regime in testing GR. By design, it is less susceptible to the sample variance and numerical artifacts. We adopt a mass assignment method based on wavelet to improve the power spectrum measurement. We run a series of tests to determine the suitable simulation specifications (particle number, box size, and initial redshift). We find that, the nonlinear power spectra can differ by ∼30% for 10% deviation from GR (|ζ-1|=0.1) where the rms density fluctuations reach 10. This large difference, on one hand, shows the richness of information on gravity in the corresponding scales, and on the other hand, invalidates simple extrapolations of some existing fitting formulae to modified gravity cosmology.

N-body simulations for f(R) gravity using a self-adaptive particle-mesh code

Science.gov (United States)

Zhao, Gong-Bo; Li, Baojiu; Koyama, Kazuya

2011-02-01

We perform high-resolution N-body simulations for f(R) gravity based on a self-adaptive particle-mesh code MLAPM. The chameleon mechanism that recovers general relativity on small scales is fully taken into account by self-consistently solving the nonlinear equation for the scalar field. We independently confirm the previous simulation results, including the matter power spectrum, halo mass function, and density profiles, obtained by Oyaizu [Phys. Rev. DPRVDAQ1550-7998 78, 123524 (2008)10.1103/PhysRevD.78.123524] and Schmidt [Phys. Rev. DPRVDAQ1550-7998 79, 083518 (2009)10.1103/PhysRevD.79.083518], and extend the resolution up to k˜20h/Mpc for the measurement of the matter power spectrum. Based on our simulation results, we discuss how the chameleon mechanism affects the clustering of dark matter and halos on full nonlinear scales.

49 CFR 232.105 - General requirements for locomotives.

Science.gov (United States)

2010-10-01

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

Locomotion training of legged robots using hybrid machine learning techniques

Science.gov (United States)

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

1995-01-01

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

Thermal instability in a gravity-like scalar theory

International Nuclear Information System (INIS)

Brandt, F. T.; Frenkel, J.; Das, Ashok

2008-01-01

We study the question of stability of the ground state of a scalar theory which is a generalization of the φ 3 theory and has some similarity to gravity with a cosmological constant. We show that the ground state of the theory at zero temperature becomes unstable above a certain critical temperature, which is evaluated in closed form at high temperature.

Locomotion of Paramecium in patterned environments

Science.gov (United States)

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

2011-10-01

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

Operating a locomotive on liquid methane fuel

International Nuclear Information System (INIS)

Stolz, J.L.

1992-01-01

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

Zero drift and solid Earth tide extracted from relative gravimetric data with principal component analysis

OpenAIRE

Hongjuan Yu; Jinyun Guo; Jiulong Li; Dapeng Mu; Qiaoli Kong

2015-01-01

Zero drift and solid Earth tide corrections to static relative gravimetric data cannot be ignored. In this paper, a new principal component analysis (PCA) algorithm is presented to extract the zero drift and the solid Earth tide, as signals, from static relative gravimetric data assuming that the components contained in the relative gravimetric data are uncorrelated. Static relative gravity observations from Aug. 15 to Aug. 23, 2014 are used as statistical variables to separate the signal and...

Locomotion-learning behavior relationship in Caenorhabditis elegans following γ-ray irradiation

International Nuclear Information System (INIS)

Sakashita, Tetsuya; Hamada, Nobuyuki; Suzuki, Michiyo; Kobayashi, Yasuhiko; Ikeda, Daisuke D.; Yanase, Sumino; Ishii, Naoaki

2008-01-01

Learning impairment following ionizing radiation (IR) exposure is an important potential risk in manned space missions. We previously reported the modulatory effects of IR on salt chemotaxis learning in Caenorhabditis elegans. However, little is known about the effects of IR on the functional relationship in the nervous system. In the present study, we investigated the effects of γ-ray exposure on the relationship between locomotion and salt chemotaxis learning behavior. We found that effects of pre-learning irradiation on locomotion were significantly correlated with the salt chemotaxis learning performance, whereas locomotion was not directly related to chemotaxis to NaCl. On the other hand, locomotion was positively correlated with salt chemotaxis of animals which were irradiated during learning, and the correlation disappeared with increasing doses. These results suggest an indirect relationship between locomotion and salt chemotaxis learning in C. elegans, and that IR inhibits the innate relationship between locomotion and chemotaxis, which is related to salt chemotaxis learning conditioning of C. elegans. (author)

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

Science.gov (United States)

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

2016-10-05

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

Advanced aftertreatment systems for locomotive applications; Moderne Abgasnachbehandlungssysteme fuer Lokomotiven

Energy Technology Data Exchange (ETDEWEB)

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

2013-07-15

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

Dynamics of Superfluid Helium in Low-Gravity

Science.gov (United States)

Frank, David J.

1997-01-01

sensitive to quasi-steady changes in the mass distribution of the liquid. The CFD codes were used to model the fluid's dynamic motion. Tests in one-g were performed with the main emphasis on being able to compute the actual damping of the fluid. A series of flights on the NASA Lewis reduced gravity DC-9 aircraft were performed with the Jet Propulsion Laboratory (JPL) Low Temperature Flight Facility and a superfluid Test Cell. The data at approximately 0.04g, lg and 2g were used to determine if correct fundamental frequencies can be predicted based on the acceleration field. Tests in zero gravity were performed to evaluate zero gravity motion.

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

Science.gov (United States)

2010-10-01

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

Low-Gravity Mimicking Simulants and Evaluation of Simulant Flow, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — This project will provide a new method for testing flow/no-flow conditions and other gravity-driven flow behavior of Lunar or planetary regolith under reduced...

Effects of artificial gravity on the cardiovascular system: Computational approach

Science.gov (United States)

Diaz Artiles, Ana; Heldt, Thomas; Young, Laurence R.

2016-09-01

Artificial gravity has been suggested as a multisystem countermeasure against the negative effects of weightlessness. However, many questions regarding the appropriate configuration are still unanswered, including optimal g-level, angular velocity, gravity gradient, and exercise protocol. Mathematical models can provide unique insight into these questions, particularly when experimental data is very expensive or difficult to obtain. In this research effort, a cardiovascular lumped-parameter model is developed to simulate the short-term transient hemodynamic response to artificial gravity exposure combined with ergometer exercise, using a bicycle mounted on a short-radius centrifuge. The model is thoroughly described and preliminary simulations are conducted to show the model capabilities and potential applications. The model consists of 21 compartments (including systemic circulation, pulmonary circulation, and a cardiac model), and it also includes the rapid cardiovascular control systems (arterial baroreflex and cardiopulmonary reflex). In addition, the pressure gradient resulting from short-radius centrifugation is captured in the model using hydrostatic pressure sources located at each compartment. The model also includes the cardiovascular effects resulting from exercise such as the muscle pump effect. An initial set of artificial gravity simulations were implemented using the Massachusetts Institute of Technology (MIT) Compact-Radius Centrifuge (CRC) configuration. Three centripetal acceleration (artificial gravity) levels were chosen: 1 g, 1.2 g, and 1.4 g, referenced to the subject's feet. Each simulation lasted 15.5 minutes and included a baseline period, the spin-up process, the ergometer exercise period (5 minutes of ergometer exercise at 30 W with a simulated pedal cadence of 60 RPM), and the spin-down process. Results showed that the cardiovascular model is able to predict the cardiovascular dynamics during gravity changes, as well as the expected

Gravity Field Parameter Estimation Using QR Factorization

Science.gov (United States)

Klokocnik, J.; Wagner, C. A.; McAdoo, D.; Kostelecky, J.; Bezdek, A.; Novak, P.; Gruber, C.; Marty, J.; Bruinsma, S. L.; Gratton, S.; Balmino, G.; Baboulin, M.

2007-12-01

This study compares the accuracy of the estimated geopotential coefficients when QR factorization is used instead of the classical method applied at our institute, namely the generation of normal equations that are solved by means of Cholesky decomposition. The objective is to evaluate the gain in numerical precision, which is obtained at considerable extra cost in terms of computer resources. Therefore, a significant increase in precision must be realized in order to justify the additional cost. Numerical simulations were done in order to examine the performance of both solution methods. Reference gravity gradients were simulated, using the EIGEN-GL04C gravity field model to degree and order 300, every 3 seconds along a near-circular, polar orbit at 250 km altitude. The simulation spanned a total of 60 days. A polar orbit was selected in this simulation in order to avoid the 'polar gap' problem, which causes inaccurate estimation of the low-order spherical harmonic coefficients. Regularization is required in that case (e.g., the GOCE mission), which is not the subject of the present study. The simulated gravity gradients, to which white noise was added, were then processed with the GINS software package, applying EIGEN-CG03 as the background gravity field model, followed either by the usual normal equation computation or using the QR approach for incremental linear least squares. The accuracy assessment of the gravity field recovery consists in computing the median error degree-variance spectra, accumulated geoid errors, geoid errors due to individual coefficients, and geoid errors calculated on a global grid. The performance, in terms of memory usage, required disk space, and CPU time, of the QR versus the normal equation approach is also evaluated.

Locomotion and basicranial anatomy in primates and marsupials.

Science.gov (United States)

Villamil, Catalina I

2017-10-01

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

Approaches to Validation of Models for Low Gravity Fluid Behavior

Science.gov (United States)

Chato, David J.; Marchetta, Jeffery; Hochstein, John I.; Kassemi, Mohammad

2005-01-01

This paper details the author experiences with the validation of computer models to predict low gravity fluid behavior. It reviews the literature of low gravity fluid behavior as a starting point for developing a baseline set of test cases. It examines authors attempts to validate their models against these cases and the issues they encountered. The main issues seem to be that: Most of the data is described by empirical correlation rather than fundamental relation; Detailed measurements of the flow field have not been made; Free surface shapes are observed but through thick plastic cylinders, and therefore subject to a great deal of optical distortion; and Heat transfer process time constants are on the order of minutes to days but the zero-gravity time available has been only seconds.

Constraint on reconstructed f(R) gravity models from gravitational waves

Science.gov (United States)

Lee, Seokcheon

2018-06-01

The gravitational wave (GW) detection of a binary neutron star inspiral made by the Advanced LIGO and Advanced Virgo paves the unprecedented way for multi-messenger observations. The propagation speed of this GW can be scrutinized by comparing the arrival times between GW and neutrinos or photons. It provides the constraint on the mass of the graviton. f(R) gravity theories have the habitual non-zero mass gravitons in addition to usual massless ones. Previously, we show that the model independent f(R) gravity theories can be constructed from the both background evolution and the matter growth with one undetermined parameter. We show that this parameter can be constrained from the graviton mass bound obtained from GW detection. Thus, the GW detection provides the invaluable constraint on the validity of f(R) gravity theories.

New observational constraints on f ( R ) gravity from cosmic chronometers

Energy Technology Data Exchange (ETDEWEB)

Nunes, Rafael C. [Departamento de Física, Universidade Federal de Juiz de Fora, 36036-330, Juiz de Fora, MG (Brazil); Pan, Supriya [Department of Physical Sciences, Indian Institute of Science Education and Research—Kolkata, Mohanpur—741246, West Bengal (India); Saridakis, Emmanuel N. [Physics Division, National Technical University of Athens, 15780 Zografou Campus, Athens (Greece); Abreu, Everton M.C., E-mail: rcnunes@fisica.ufjf.br, E-mail: span@iiserkol.ac.in, E-mail: Emmanuel_Saridakis@baylor.edu, E-mail: evertonabreu@ufrrj.br [Grupo de Física Teórica e Matemática Física, Universidade Federal Rural do Rio de Janeiro, 23890-971, Seropédica, RJ (Brazil)

2017-01-01

We use the recently released cosmic chronometer data and the latest measured value of the local Hubble parameter, combined with the latest joint light curves of Supernovae Type Ia, and Baryon Acoustic Oscillation distance measurements, in order to impose constraints on the viable and most used f ( R ) gravity models. We consider four f ( R ) models, namely the Hu-Sawicki, the Starobinsky, the Tsujikawa, and the exponential one, and we parametrize them introducing a distortion parameter b that quantifies the deviation from ΛCDM cosmology. Our analysis reveals that a small but non-zero deviation from ΛCDM cosmology is slightly favored, with the corresponding fittings exhibiting very efficient AIC and BIC Information Criteria values. Clearly, f ( R ) gravity is consistent with observations, and it can serve as a candidate for modified gravity.

Axial dynamics during locomotion in vertebrates: lesson from the salamander

OpenAIRE

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

2010-01-01

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

Support afferentation in the posture and locomotion control system

Science.gov (United States)

Grigoriev, Anatoly; Tomilovskaya, Elena; Kozlovskaya, Inesa

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

Skylab fluid mechanics simulations: Oscillation, rotation, collision and coalescence of water droplets under low-gravity environment

Science.gov (United States)

Vaughan, O. H., Jr.; Hung, R. J.

1975-01-01

Skylab 4 crew members performed a series of demonstrations showing the oscillations, rotations, as well as collision coalescence of water droplets which simulate various physical models of fluids under low gravity environment. The results from Skylab demonstrations provide information and illustrate the potential of an orbiting space-oriented research laboratory for the study of more sophisticated fluid mechanic experiments. Experiments and results are discussed.

On the role of numerical simulations in studies of reduced gravity-induced physiological effects in humans. Results from NELME.

Science.gov (United States)

Perez-Poch, Antoni

Computer simulations are becoming a promising research line of work, as physiological models become more and more sophisticated and reliable. Technological advances in state-of-the-art hardware technology and software allow nowadays for better and more accurate simulations of complex phenomena, such as the response of the human cardiovascular system to long-term exposure to microgravity. Experimental data for long-term missions are difficult to achieve and reproduce, therefore the predictions of computer simulations are of a major importance in this field. Our approach is based on a previous model developed and implemented in our laboratory (NELME: Numercial Evaluation of Long-term Microgravity Effects). The software simulates the behaviour of the cardiovascular system and different human organs, has a modular archi-tecture, and allows to introduce perturbations such as physical exercise or countermeasures. The implementation is based on a complex electrical-like model of this control system, using inexpensive development frameworks, and has been tested and validated with the available experimental data. The objective of this work is to analyse and simulate long-term effects and gender differences when individuals are exposed to long-term microgravity. Risk probability of a health impairement which may put in jeopardy a long-term mission is also evaluated. . Gender differences have been implemented for this specific work, as an adjustment of a number of parameters that are included in the model. Women versus men physiological differences have been therefore taken into account, based upon estimations from the physiology bibliography. A number of simulations have been carried out for long-term exposure to microgravity. Gravity varying continuosly from Earth-based to zero, and time exposure are the two main variables involved in the construction of results, including responses to patterns of physical aerobic ex-ercise and thermal stress simulating an extra

LSTM-Based Temperature Prediction for Hot-Axles of Locomotives

Directory of Open Access Journals (Sweden)

Luo Can

2017-01-01

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

Two-fluid model for locomotion under self-confinement

Science.gov (United States)

Reigh, Shang Yik; Lauga, Eric

2017-09-01

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

On the robustness of entanglement in analogue gravity systems

International Nuclear Information System (INIS)

Bruschi, D E; Friis, N; Fuentes, I; Weinfurtner, S

2013-01-01

We investigate the possibility of generating quantum-correlated quasi-particles utilizing analogue gravity systems. The quantumness of these correlations is a key aspect of analogue gravity effects and their presence allows for a clear separation between classical and quantum analogue gravity effects. However, experiments in analogue systems, such as Bose–Einstein condensates (BECs) and shallow water waves, are always conducted at non-ideal conditions, in particular, one is dealing with dispersive media at non-zero temperatures. We analyse the influence of the initial temperature on the entanglement generation in analogue gravity phenomena. We lay out all the necessary steps to calculate the entanglement generated between quasi-particle modes and we analytically derive an upper bound on the maximal temperature at which given modes can still be entangled. We further investigate a mechanism to enhance the quantum correlations. As a particular example, we analyse the robustness of the entanglement creation against thermal noise in a sudden quench of an ideally homogeneous BEC, taking into account the super-sonic dispersion relations. (paper)

Exact solution in the cosmological chaotic inflation model with induced gravity

International Nuclear Information System (INIS)

Wang Wenfu

2004-01-01

We present a new, exact solution in the cosmological chaotic inflation model with induced gravity. The spectral index of the scalar density fluctuations, n s , is computed, and is consistent with the analyses of BOOMERANG data. The effective cosmological constant Λ eff tends to zero when inflation ends

DBI from gravity

Energy Technology Data Exchange (ETDEWEB)

Maxfield, Travis; Sethi, Savdeep [Enrico Fermi Institute, University of Chicago,Chicago, IL 60637 (United States)

2017-02-22

We study the dynamics of gravitational lumps. By a lump, we mean a metric configuration that asymptotes to a flat space-time. Such lumps emerge in string theory as strong coupling descriptions of D-branes. We provide a physical argument that the broken global symmetries of such a background, generated by certain large diffeomorphisms, constrain the dynamics of localized modes. These modes include the translation zero modes and any localized tensor modes. The constraints we find are gravitational analogues of those found in brane physics. For the example of a Taub-NUT metric in eleven-dimensional supergravity, we argue that a critical value for the electric field arises from standard gravity without higher derivative interactions.

Rotating gravity currents. Part 1. Energy loss theory

Science.gov (United States)

Martin, J. R.; Lane-Serff, G. F.

2005-01-01

A comprehensive energy loss theory for gravity currents in rotating rectangular channels is presented. The model is an extension of the non-rotating energy loss theory of Benjamin (J. Fluid Mech. vol. 31, 1968, p. 209) and the steady-state dissipationless theory of rotating gravity currents of Hacker (PhD thesis, 1996). The theory assumes the fluid is inviscid, there is no shear within the current, and the Boussinesq approximation is made. Dissipation is introduced using a simple method. A head loss term is introduced into the Bernoulli equation and it is assumed that the energy loss is uniform across the stream. Conservation of momentum, volume flux and potential vorticity between upstream and downstream locations is then considered. By allowing for energy dissipation, results are obtained for channels of arbitrary depth and width (relative to the current). The results match those from earlier workers in the two limits of (i) zero rotation (but including dissipation) and (ii) zero dissipation (but including rotation). Three types of flow are identified as the effect of rotation increases, characterized in terms of the location of the outcropping interface between the gravity current and the ambient fluid on the channel boundaries. The parameters for transitions between these cases are quantified, as is the detailed behaviour of the flow in all cases. In particular, the speed of the current can be predicted for any given channel depth and width. As the channel depth increases, the predicted Froude number tends to surd 2, as for non-rotating flows.

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

Science.gov (United States)

2010-10-01

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

Direct Numerical Simulations of Rayleigh-Taylor instability

International Nuclear Information System (INIS)

Livescu, D; Wei, T; Petersen, M R

2011-01-01

The development of the Rayleigh-Taylor mixing layer is studied using data from an extensive new set of Direct Numerical Simulations (DNS), performed on the 0.5 Petaflops, 150k compute cores BG/L Dawn supercomputer at Lawrence Livermore National Laboratory. This includes a suite of simulations with grid size of 1024 2 × 4608 and Atwood number ranging from 0.04 to 0.9, in order to examine small departures from the Boussinesq approximation as well as large Atwood number effects, and a high resolution simulation of grid size 4096 2 × 4032 and Atwood number of 0.75. After the layer width had developed substantially, additional branched simulations have been run under reversed and zero gravity conditions. While the bulk of the results will be published elsewhere, here we present preliminary results on: 1) the long-standing open question regarding the discrepancy between the numerically and experimentally measured mixing layer growth rates and 2) mixing characteristics.

Design strategies for the International Space University's variable gravity research facility

Science.gov (United States)

Bailey, Sheila G.; Chiaramonte, Francis P.; Davidian, Kenneth J.

1990-01-01

A variable gravity research facility named 'Newton' was designed by 58 students from 13 countries at the International Space University's 1989 summer session at the Universite Louis Pasteur, Strasbourge, France. The project was comprehensive in scope, including a political and legal foundation for international cooperation, development and financing; technical, science and engineering issues; architectural design; plausible schedules; and operations, crew issues and maintenance. Since log-term exposure to zero gravity is known to be harmful to the human body, the main goal was to design a unique variable gravity research facility which would find a practical solution to this problem, permitting a manned mission to Mars. The facility would not duplicate other space-based facilities and would provide the flexibility for examining a number of gravity levels, including lunar and Martian gravities. Major design alternatives included a truss versus a tether based system which also involved the question of docking while spinning or despinning to dock. These design issues are described. The relative advantages or disadvantages are discussed, including comments on the necessary research and technology development required for each.

Cosmological stability bound in massive gravity and bigravity

International Nuclear Information System (INIS)

Fasiello, Matteo; Tolley, Andrew J.

2013-01-01

We give a simple derivation of a cosmological bound on the graviton mass for spatially flat FRW solutions in massive gravity with an FRW reference metric and for bigravity theories. This bound comes from the requirement that the kinetic term of the helicity zero mode of the graviton is positive definite. The bound is dependent only on the parameters in the massive gravity potential and the Hubble expansion rate for the two metrics. We derive the decoupling limit of bigravity and FRW massive gravity, and use this to give an independent derivation of the cosmological bound. We recover our previous results that the tension between satisfying the Friedmann equation and the cosmological bound is sufficient to rule out all observationally relevant FRW solutions for massive gravity with an FRW reference metric. In contrast, in bigravity this tension is resolved due to different nature of the Vainshtein mechanism. We find that in bigravity theories there exists an FRW solution with late-time self-acceleration for which the kinetic terms for the helicity-2, helicity-1 and helicity-0 are generically nonzero and positive making this a compelling candidate for a model of cosmic acceleration. We confirm that the generalized bound is saturated for the candidate partially massless (bi)gravity theories but the existence of helicity-1/helicity-0 interactions implies the absence of the conjectured partially massless symmetry for both massive gravity and bigravity

49 CFR 236.1006 - Equipping locomotives operating in PTC territory.

Science.gov (United States)

2010-10-01

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

Mathematical modeling and simulation of aquatic and aerial animal locomotion

Science.gov (United States)

Hou, T. Y.; Stredie, V. G.; Wu, T. Y.

2007-08-01

In this paper, we investigate the locomotion of fish and birds by applying a new unsteady, flexible wing theory that takes into account the strong nonlinear dynamics semi-analytically. We also make extensive comparative study between the new approach and the modified vortex blob method inspired from Chorin's and Krasny's work. We first implement the modified vortex blob method for two examples and then discuss the numerical implementation of the nonlinear analytical mathematical model of Wu. We will demonstrate that Wu's method can capture the nonlinear effects very well by applying it to some specific cases and by comparing with the experiments available. In particular, we apply Wu's method to analyze Wagner's result for a wing abruptly undergoing an increase in incidence angle. Moreover, we study the vorticity generated by a wing in heaving, pitching and bending motion. In both cases, we show that the new method can accurately represent the vortex structure behind a flying wing and its influence on the bound vortex sheet on the wing.

Locomotion of inchworm-inspired robot made of smart soft composite (SSC)

International Nuclear Information System (INIS)

Wang, Wei; Lee, Jang-Yeob; Rodrigue, Hugo; Song, Sung-Hyuk; Ahn, Sung-Hoon; Chu, Won-Shik

2014-01-01

A soft-bodied robot made of smart soft composite with inchworm-inspired locomotion capable of both two-way linear and turning movement has been proposed, developed, and tested. The robot was divided into three functional parts based on the different functions of the inchworm: the body, the back foot, and the front foot. Shape memory alloy wires were embedded longitudinally in a soft polymer to imitate the longitudinal muscle fibers that control the abdominal contractions of the inchworm during locomotion. Each foot of the robot has three segments with different friction coefficients to implement the anchor and sliding movement. Then, utilizing actuation patterns between the body and feet based on the looping gait, the robot achieves a biomimetic inchworm gait. Experiments were conducted to evaluate the robot’s locomotive performance for both linear locomotion and turning movement. Results show that the proposed robot’s stride length was nearly one third of its body length, with a maximum linear speed of 3.6 mm s −1 , a linear locomotion efficiency of 96.4%, a maximum turning capability of 4.3 degrees per stride, and a turning locomotion efficiency of 39.7%. (paper)

Minimal Liouville gravity correlation numbers from Douglas string equation

International Nuclear Information System (INIS)

Belavin, Alexander; Dubrovin, Boris; Mukhametzhanov, Baur

2014-01-01

We continue the study of (q,p) Minimal Liouville Gravity with the help of Douglas string equation. We generalize the results of http://dx.doi.org/10.1016/0550-3213(91)90548-Chttp://dx.doi.org/10.1088/1751-8113/42/30/304004, where Lee-Yang series (2,2s+1) was studied, to (3,3s+p 0 ) Minimal Liouville Gravity, where p 0 =1,2. We demonstrate that there exist such coordinates τ m,n on the space of the perturbed Minimal Liouville Gravity theories, in which the partition function of the theory is determined by the Douglas string equation. The coordinates τ m,n are related in a non-linear fashion to the natural coupling constants λ m,n of the perturbations of Minimal Lioville Gravity by the physical operators O m,n . We find this relation from the requirement that the correlation numbers in Minimal Liouville Gravity must satisfy the conformal and fusion selection rules. After fixing this relation we compute three- and four-point correlation numbers when they are not zero. The results are in agreement with the direct calculations in Minimal Liouville Gravity available in the literature http://dx.doi.org/10.1103/PhysRevLett.66.2051http://dx.doi.org/10.1007/s11232-005-0003-3http://dx.doi.org/10.1007/s11232-006-0075-8

Locomotive emissions measurements for various blends of biodiesel fuel.

Science.gov (United States)

2014-12-01

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

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

Science.gov (United States)

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

2014-10-01

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

Response of Human Prostate Cancer Cells to Mitoxantrone Treatment in Simulated Microgravity Environment

Science.gov (United States)

Zhang, Ye; Wu, Honglu

2012-07-01

RESPONSE OF HUMAN PROSTATE CANCER CELLS TO MITOXANTRONE TREATMENT IN SIMULATED MICROGRAVITY ENVIRONMENT Ye Zhang1,2, Christopher Edwards3, and Honglu Wu1 1 NASA-Johnson Space Center, Houston, TX 2 Wyle Integrated Science and Engineering Group, Houston, TX 3 Oregon State University, Corvallis, OR This study explores the changes in growth of human prostate cancer cells (LNCaP) and their response to the treatment of an antineoplastic agent, mitoxantrone, under the simulated microgravity condition. In comparison to static 1g, microgravity and simulated microgravity have been shown to alter global gene expression patterns and protein levels in various cultured cell models or animals. However, very little is known about the effect of altered gravity on the responses of cells to the treatment of drugs, especially chemotherapy drugs. To test the hypothesis that zero gravity would result in altered regulations of cells in response to antineoplastic agents, we cultured LNCaP cells in either a High Aspect Ratio Vessel (HARV) bioreactor at the rotating condition to model microgravity in space or in the static condition as control, and treated the cells with mitoxantrone. Cell growth, as well as expressions of oxidative stress related genes, were analyzed after the drug treatment. Compared to static 1g controls, the cells cultured in the simulated microgravity environment did not present significant differences in cell viability, growth rate, or cell cycle distribution. However, after mitoxantrone treatment, a significant proportion of bioreactor cultured cells became apoptotic or was arrested in G2. Several oxidative stress related genes also showed a higher expression level post mitoxantrone treatment. Our results indicate that simulated microgravity may alter the response of LNCaP cells to mitoxantrone treatment. Understanding the mechanisms by which cells respond to drugs differently in an altered gravity environment will be useful for the improvement of cancer treatment on

Design characteristics of research zero power fast reactor Lasta

International Nuclear Information System (INIS)

Milosevic, M.; Stefanovic, D.; Pesic, M.; Nikolic, D.; Antic, D.; Zavaljevski, N.; Popovic, D.

1990-01-01

LASTA is a flexible zero power reactor with uranium and plutonium fuel designed for research in the neutron physics and in the fast reactor physics. Safety considerations and experimental flexibility led to the choice of a fixed vertical assembly with two safety blocks as the main safety elements, so that safety devices would be operated by gravity. The neutron and reactor physics, the control and safety philosophy adopted in our design, are described in this paper. Developed computer programs are presented. (author)

z -Weyl gravity in higher dimensions

Energy Technology Data Exchange (ETDEWEB)

Moon, Taeyoon; Oh, Phillial, E-mail: dpproject@skku.edu, E-mail: ploh@skku.edu [Department of Physics and Institute of Basic Science, Sungkyunkwan University, Suwon 440-746 (Korea, Republic of)

2017-09-01

We consider higher dimensional gravity in which the four dimensional spacetime and extra dimensions are not treated on an equal footing. The anisotropy is implemented in the ADM decomposition of higher dimensional metric by requiring the foliation preserving diffeomorphism invariance adapted to the extra dimensions, thus keeping the general covariance only for the four dimensional spacetime. The conformally invariant gravity can be constructed with an extra (Weyl) scalar field and a real parameter z which describes the degree of anisotropy of conformal transformation between the spacetime and extra dimensional metrics. In the zero mode effective 4D action, it reduces to four-dimensional scalar-tensor theory coupled with nonlinear sigma model described by extra dimensional metrics. There are no restrictions on the value of z at the classical level and possible applications to the cosmological constant problem with a specific choice of z are discussed.

Exotendons for assistance of human locomotion

Directory of Open Access Journals (Sweden)

van den Bogert Antonie J

2003-10-01

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

49 CFR 229.9 - Movement of non-complying locomotives.

Science.gov (United States)

2010-10-01

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

The use of instruments for gravity related research

Science.gov (United States)

van Loon, J. J. W.

The first experiments using machines and instruments to manipulate gravity and thus learn about the impact of gravity onto living systems were performed by T A Knight in 1806 exactly 2 centuries ago What have we learned from these experiments and in particular what have we leaned about the use of instruments to reveal the impact of gravity and rotation onto plants and other living systems In this overview paper I will introduce the use of various instruments for gravity related research From water wheel to Random Positioning Machine RPM from clinostat to Free Fall Machine FFM and Rotating Wall Vessel RWV the usefulness and working principles of these microgravity simulators will be discussed We will discuss the question whether the RPM is a useful microgravity simulator and how to interpret experimental results This work is supported by NWO-ALW-SRON grant MG-057

Embedded model control GNC for the Next Generation Gravity Mission

Science.gov (United States)

Colangelo, Luigi; Massotti, Luca; Canuto, Enrico; Novara, Carlo

2017-11-01

A Next Generation Gravity Mission (NGGM) concept for measuring the Earth's variable gravity field has been recently proposed by ESA. The mission objective consists in measuring the temporal variations of the Earth gravity field over a long-time span, with very high spatial and temporal resolutions. This paper focuses on the guidance, navigation and control (GNC) design for the science phase of the NGGM mission. NGGM will consist of a two-satellite long-distance formation like GRACE, where each satellite will be controlled to be drag-free like GOCE. Satellite-to-satellite distance variations, encoding gravity anomalies, will be measured by laser interferometry. The formation satellites, distant up to 200 km, will fly in a quasi-polar orbit at an Earth altitude between 300 and 450 km. Orbit and formation control counteract bias and drift of the residual drag-free accelerations, in order to reach orbit/formation long-term stability. Drag-free control allows the formation to fly counteracting the atmospheric drag, ideally subject only to gravity. Orbit and formation control, designed through the innovative Integrated Formation Control (IFC), have been integrated into a unique control system, aiming at stabilizing the formation triangle consisting of satellites and Earth Center of Masses. In addition, both spacecraft must align their control axis to the satellite-to-satellite line (SSL) with micro-radian accuracy. This is made possible by specific optical sensors and the inter-satellite laser interferometer, capable of materializing the SSL. Such sensors allow each satellite to pursue an autonomous alignment after a suitable acquisition procedure. Pointing control is severely constrained by the angular drag-free control, which must ideally zero the angular acceleration vector, in the science frequency band. The control unit has been designed according to the Embedded Model Control methodology and is organized in a hierarchical way, where the drag-free control plays the

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

Science.gov (United States)

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

2016-06-14

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

Inferring Characteristics of Sensorimotor Behavior by Quantifying Dynamics of Animal Locomotion

Science.gov (United States)

Leung, KaWai

Locomotion is one of the most well-studied topics in animal behavioral studies. Many fundamental and clinical research make use of the locomotion of an animal model to explore various aspects in sensorimotor behavior. In the past, most of these studies focused on population average of a specific trait due to limitation of data collection and processing power. With recent advance in computer vision and statistical modeling techniques, it is now possible to track and analyze large amounts of behavioral data. In this thesis, I present two projects that aim to infer the characteristics of sensorimotor behavior by quantifying the dynamics of locomotion of nematode Caenorhabditis elegans and fruit fly Drosophila melanogaster, shedding light on statistical dependence between sensing and behavior. In the first project, I investigate the possibility of inferring noxious sensory information from the behavior of Caenorhabditis elegans. I develop a statistical model to infer the heat stimulus level perceived by individual animals from their stereotyped escape responses after stimulation by an IR laser. The model allows quantification of analgesic-like effects of chemical agents or genetic mutations in the worm. At the same time, the method is able to differentiate perturbations of locomotion behavior that are beyond affecting the sensory system. With this model I propose experimental designs that allows statistically significant identification of analgesic-like effects. In the second project, I investigate the relationship of energy budget and stability of locomotion in determining the walking speed distribution of Drosophila melanogaster during aging. The locomotion stability at different age groups is estimated from video recordings using Floquet theory. I calculate the power consumption of different locomotion speed using a biomechanics model. In conclusion, the power consumption, not stability, predicts the locomotion speed distribution at different ages.

SELECTION OF RATIONAL PARAMETERS OF THE NOMINAL MODE OF ELECTRIC LOCOMOTIVES

Directory of Open Access Journals (Sweden)

H. K. Hetman

2017-02-01

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

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

Science.gov (United States)

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

2017-10-18

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

Classical evolution and quantum generation in generalized gravity theories including string corrections and tachyons: Unified analyses

International Nuclear Information System (INIS)

Hwang, Jai-chan; Noh, Hyerim

2005-01-01

We present cosmological perturbation theory based on generalized gravity theories including string theory correction terms and a tachyonic complication. The classical evolution as well as the quantum generation processes in these varieties of gravity theories are presented in unified forms. These apply both to the scalar- and tensor-type perturbations. Analyses are made based on the curvature variable in two different gauge conditions often used in the literature in Einstein's gravity; these are the curvature variables in the comoving (or uniform-field) gauge and the zero-shear gauge. Applications to generalized slow-roll inflation and its consequent power spectra are derived in unified forms which include a wide range of inflationary scenarios based on Einstein's gravity and others

Labyrinth and cerebral-spinal fluid pressure changes in guinea pigs and monkeys during simulated zero G

Science.gov (United States)

Parker, D. E.

1977-01-01

This study was undertaken to explore the hypothesis that shifts of body fluids from the legs and torso toward the head contribute to the motion sickness experienced by astronauts and cosmonauts. The shifts in body fluids observed during zero-G exposure were simulated by elevating guinea pigs' and monkeys' torsos and hindquarters. Cerebral-spinal fluid pressure was recorded from a transducer located in a brain ventricle; labyrinth fluid pressure was recorded from a pipette cemented in a hole in a semicircular canal. An anticipated divergence in cerebral-spinal fluid pressure and labyrinth fluid pressure during torso elevation was not observed. The results of this study do not support a fluid shift mechanism of zero-G-induced motion sickness. However, a more complete test of the fluid shift mechanism would be obtained if endolymph and perilymph pressure changes were determined separately; we have been unable to perform this test to date.

ANALYSIS OF THE OPERATIONAL CHARACTERISTICS OF DIESEL-ELECTRIC LOCOMOTIVES

Directory of Open Access Journals (Sweden)

L. V. Ursulyak

2014-12-01

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

Lap time simulation and design optimisation of a brushed DC electric motorcycle for the Isle of Man TT Zero Challenge

Science.gov (United States)

Dal Bianco, N.; Lot, R.; Matthys, K.

2018-01-01

This works regards the design of an electric motorcycle for the annual Isle of Man TT Zero Challenge. Optimal control theory was used to perform lap time simulation and design optimisation. A bespoked model was developed, featuring 3D road topology, vehicle dynamics and electric power train, composed of a lithium battery pack, brushed DC motors and motor controller. The model runs simulations over the entire ? or ? of the Snaefell Mountain Course. The work is validated using experimental data from the BX chassis of the Brunel Racing team, which ran during the 2009 to 2015 TT Zero races. Optimal control is used to improve drive train and power train configurations. Findings demonstrate computational efficiency, good lap time prediction and design optimisation potential, achieving a 2 minutes reduction of the reference lap time through changes in final drive gear ratio, battery pack size and motor configuration.

Implicit Large-Eddy Simulations of Zero-Pressure Gradient, Turbulent Boundary Layer

Science.gov (United States)

Sekhar, Susheel; Mansour, Nagi N.

2015-01-01

A set of direct simulations of zero-pressure gradient, turbulent boundary layer flows are conducted using various span widths (62-630 wall units), to document their influence on the generated turbulence. The FDL3DI code that solves compressible Navier-Stokes equations using high-order compact-difference scheme and filter, with the standard recycling/rescaling method of turbulence generation, is used. Results are analyzed at two different Re values (500 and 1,400), and compared with spectral DNS data. They show that a minimum span width is required for the mere initiation of numerical turbulence. Narrower domains ((is) less than 100 w.u.) result in relaminarization. Wider spans ((is) greater than 600 w.u.) are required for the turbulent statistics to match reference DNS. The upper-wall boundary condition for this setup spawns marginal deviations in the mean velocity and Reynolds stress profiles, particularly in the buffer region.

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

Energy Technology Data Exchange (ETDEWEB)

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

2010-05-15

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

A high resolution gravity model for Venus - GVM-1

Science.gov (United States)

Nerem, R. S.; Bills, B. G.; Mcnamee, J. B.

1993-01-01

A spherical harmonic model of the gravitational field of Venus complete to degree and order 50 has been developed using the S-band Doppler tracking data of the Pioneer Venus Orbiter (PVO) collected between 1979 and 1982. The short wavelengths of this model could only be resolved near the PVO periapse location (about 14 deg N latitude), therefore a priori constraints were applied to the model to bias poorly observed coefficients towards zero. The resulting model has a half-wavelength resolution of 400 km near the PVO periapse location, but the resolution degrades to greater than 1000 km near the poles. This gravity model correlates well with a degree 50 spherical harmonic expansion of the Venus topography derived from a combination of Magellan and PVO data. New tracking data from Magellan's gravity mission should provide some improvement to this model, although a complete model of the Venusian gravity field will depend on tracking of Magellan after the circularization of its orbit using aerobraking.

Animal Locomotion in Different Mediums

Indian Academy of Sciences (India)

IAS Admin

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

THE DYNAMICS AND TRACTION ENERGY METRICS LOCOMOTIVE VL40

Directory of Open Access Journals (Sweden)

S. V. Pylypenko

2008-03-01

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

Stability Simulation of a Vehicle with Wheel Active Steering

Directory of Open Access Journals (Sweden)

Brabec Pavel

2016-01-01

Full Text Available This paper deals with the possibility of increasing the vehicle driving stability at a higher speed. One of the ways how to achieve higher stability is using the 4WS system. Mathematical description of vehicle general movement is a very complex task. For simulation, models which are aptly simplified are used. For the first approach, so-called single-truck vehicle model (often linear is usually used. For the simulation, we have chosen to extend the model into a two-truck one, which includes the possibility to input more vehicle parameters. Considering the 4WS system, it is possible to use a number of potential regulations. In our simulation model, the regulation system with compound coupling was used. This type of regulation turns the rear wheels depending on the input parameters of the system (steering angle of the front wheels and depending on the output moving quantities of the vehicle, most frequently the yaw rate. Criterion for compensation of lateral deflection centre of gravity angle is its zero value, or more precisely the zero value of its first-order derivative. Parameters and set-up of the simulation model were done in conjunction with the dSAPACE software. Reference performances of the vehicle simulation model were made through the defined manoeuvres. But the simulation results indicate that the rear-wheels steering can have a positive effect on the vehicle movement stability, especially when changing the driving direction at high speed.

An introduction to atmospheric gravity waves

CERN Document Server

Nappo, Carmen J

2012-01-01

Gravity waves exist in all types of geophysical fluids, such as lakes, oceans, and atmospheres. They play an important role in redistributing energy at disturbances, such as mountains or seamounts and they are routinely studied in meteorology and oceanography, particularly simulation models, atmospheric weather models, turbulence, air pollution, and climate research. An Introduction to Atmospheric Gravity Waves provides readers with a working background of the fundamental physics and mathematics of gravity waves, and introduces a wide variety of applications and numerous recent advances. Nappo provides a concise volume on gravity waves with a lucid discussion of current observational techniques and instrumentation.An accompanying website contains real data, computer codes for data analysis, and linear gravity wave models to further enhance the reader's understanding of the book's material. Companion web site features animations and streaming video Foreword by George Chimonas, a renowned expert on the interac...

The propagation of orographic gravity waves into the stratosphere. Linear theory, idealized and realistic numerical simulation; Die Ausbreitung orographisch angeregter Schwerewellen in die Stratosphaere. Lineare Theorie, idealisierte und realitaetsnahe numerische Simulation

Energy Technology Data Exchange (ETDEWEB)

Leutbecher, M. [DLR Deutsches Zentrum fuer Luft- und Raumfahrt e.V., Wessling (Germany). Inst. fuer Physik der Atmosphaere

1998-07-01

Flow over mountains in the stably stratified atmosphere excites gravity waves. The three-dimensional propagation of these waves into the stratosphere is studied using linear theority as well as idealized and realistic numerical simulations. Stagnation, momentum fluxes and temperature anomalies are analyzed for idealized types of flow. Isolated mountains with elliptical contours are considered. The unperturbed atmosphere has constant wind speed and constant static stability or two layers (troposphere/stratosphere) of constant stability each. Real flow over orography is investigated where gravity waves in the stratosphere have been observed. Characteristics of the gravity wave event over the southern tip of Greenland on 6 January 1992 were recorded on a flight of the ER-2 at an altitude of 20 km. In the second case polar stratospheric clouds (PSC) were observed by an airborne Lidar over Northern Scandinavia on 9 January 1997. The PSC were induced by temperature anomalies in orographic gravity waves. (orig.)

Kinematically stable bipedal locomotion using ionic polymer–metal composite actuators

International Nuclear Information System (INIS)

Hosseinipour, Milad; Elahinia, Mohammad

2013-01-01

Ionic conducting polymer–metal composites (abbreviated as IPMCs) are interesting actuators that can act as artificial muscles in robotic and microelectromechanical systems. Various black or gray box models have modeled the electrochemical–mechanical behavior of these materials. In this study, the governing partial differential equation of the behavior of IPMCs is solved using finite element methods to find the critical actuation parameters, such as strain distribution, maximum strain, and response time. One-dimensional results of the FEM solution are then extended to 2D to find the tip displacement of a flap actuator and experimentally verified. A model of a seven-degree-of-freedom biped robot, actuated by IPMC flaps, is then introduced. The possibility of fast and stable bipedal locomotion using IPMC artificial muscles is the main motivation of this study. Considering the actuator limits, joint path trajectories are generated to achieve a fast and smooth motion. The stability of the proposed gait is then evaluated using the ZMP criterion and motion simulation. The fabrication parameters of each actuator, such as length, platinum plating thickness and installation angle, are then determined using the generated trajectories. A discussion on future studies on force–torque generation of IPMCs for biped locomotion concludes this paper. (paper)

Energetics and biomechanics of locomotion by red kangaroos (Macropus rufus).

Science.gov (United States)

Kram, R; Dawson, T J

1998-05-01

As red kangaroos hop faster over level ground, their rate of oxygen consumption (indicating metabolic energy consumption) remains nearly the same. This phenomenon has been attributed to exceptional elastic energy storage and recovery via long compliant tendons in the legs. Alternatively, red kangaroos may have exceptionally efficient muscles. To estimate efficiency, we measured the metabolic cost of uphill hopping, where muscle fibers must perform mechanical work against gravity. We found that uphill hopping was much more expensive than level hopping. The maximal rate of oxygen consumption measured (3 ml O2 kg-1 s-1) exceeds all but a few vertebrate species. However, efficiency values were normal, approximately 30%. At faster level hopping speeds the effective mechanical advantage of the extensor muscles of the ankle joint remained the same. Thus, kangaroos generate the same muscular force at all speeds but do so more rapidly at faster hopping speeds. This contradicts a recent hypothesis for what sets the cost of locomotion. The cost of transport (J kg-1 m-1) decreases at faster hopping speeds, yet red kangaroos prefer to use relatively slow speeds that avoid high levels of tendon stress.

49 CFR 231.15 - Steam locomotives used in road service.

Science.gov (United States)

2010-10-01

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

Locomotion of bacteria in liquid flow and the boundary layer effect on bacterial attachment

International Nuclear Information System (INIS)

Zhang, Chao; Liao, Qiang; Chen, Rong; Zhu, Xun

2015-01-01

The formation of biofilm greatly affects the performance of biological reactors, which highly depends on bacterial swimming and attachment that usually takes place in liquid flow. Therefore, bacterial swimming and attachment on flat and circular surfaces with the consideration of flow was studied experimentally. Besides, a mathematical model comprehensively combining bacterial swimming and motion with flow is proposed for the simulation of bacterial locomotion and attachment in flow. Both experimental and theoretical results revealed that attached bacteria density increases with decreasing boundary layer thickness on both flat and circular surfaces, the consequence of which is inherently related to the competition between bacterial swimming and the non-slip motion with flow evaluated by the Péclet number. In the boundary layer, where the Péclet number is relatively higher, bacterial locomotion mainly depends on bacterial swimming. Thinner boundary layer promotes bacterial swimming towards the surface, leading to higher attachment density. To enhance the performance of biofilm reactors, it is effective to reduce the boundary layer thickness on desired surfaces. - Highlights: • Study of bacterial locomotion in flow as an early stage in biofilm formation. • Mathematical model combining bacterial swimming and the motion with flow. • Boundary layer plays a key role in bacterial attachment under flow condition. • The competition between bacterial swimming and the motion with flow is evaluated

Locomotion of bacteria in liquid flow and the boundary layer effect on bacterial attachment

Energy Technology Data Exchange (ETDEWEB)

Zhang, Chao, E-mail: zhangchao@cqu.edu.cn [Key Laboratory of Low-grade Energy Utilization Technologies and Systems (Chongqing University), Ministry of Education, Chongqing 400030 (China); Institute of Engineering Thermophysics, Chongqing University, Chongqing 400030 (China); Liao, Qiang, E-mail: lqzx@cqu.edu.cn [Key Laboratory of Low-grade Energy Utilization Technologies and Systems (Chongqing University), Ministry of Education, Chongqing 400030 (China); Institute of Engineering Thermophysics, Chongqing University, Chongqing 400030 (China); Chen, Rong, E-mail: rchen@cqu.edu.cn [Key Laboratory of Low-grade Energy Utilization Technologies and Systems (Chongqing University), Ministry of Education, Chongqing 400030 (China); Institute of Engineering Thermophysics, Chongqing University, Chongqing 400030 (China); Zhu, Xun, E-mail: zhuxun@cqu.edu.cn [Key Laboratory of Low-grade Energy Utilization Technologies and Systems (Chongqing University), Ministry of Education, Chongqing 400030 (China); Institute of Engineering Thermophysics, Chongqing University, Chongqing 400030 (China)

2015-06-12

The formation of biofilm greatly affects the performance of biological reactors, which highly depends on bacterial swimming and attachment that usually takes place in liquid flow. Therefore, bacterial swimming and attachment on flat and circular surfaces with the consideration of flow was studied experimentally. Besides, a mathematical model comprehensively combining bacterial swimming and motion with flow is proposed for the simulation of bacterial locomotion and attachment in flow. Both experimental and theoretical results revealed that attached bacteria density increases with decreasing boundary layer thickness on both flat and circular surfaces, the consequence of which is inherently related to the competition between bacterial swimming and the non-slip motion with flow evaluated by the Péclet number. In the boundary layer, where the Péclet number is relatively higher, bacterial locomotion mainly depends on bacterial swimming. Thinner boundary layer promotes bacterial swimming towards the surface, leading to higher attachment density. To enhance the performance of biofilm reactors, it is effective to reduce the boundary layer thickness on desired surfaces. - Highlights: • Study of bacterial locomotion in flow as an early stage in biofilm formation. • Mathematical model combining bacterial swimming and the motion with flow. • Boundary layer plays a key role in bacterial attachment under flow condition. • The competition between bacterial swimming and the motion with flow is evaluated.

Experiments on vibration-driven stick-slip locomotion: A sliding bifurcation perspective

Science.gov (United States)

Du, Zhouwei; Fang, Hongbin; Zhan, Xiong; Xu, Jian

2018-05-01

Dry friction appears at the contact interface between two surfaces and is the source of stick-slip vibrations. Instead of being a negative factor, dry friction is essential for vibration-driven locomotion system to take effect. However, the dry-friction-induced stick-slip locomotion has not been fully understood in previous research, especially in terms of experiments. In this paper, we experimentally study the stick-slip dynamics of a vibration-driven locomotion system from a sliding bifurcation perspective. To this end, we first design and build a vibration-driven locomotion prototype based on an internal piezoelectric cantilever. By utilizing the mechanical resonance, the small piezoelectric deformation is significantly amplified to drive the prototype to achieve effective locomotion. Through identifying the stick-slip characteristics in velocity histories, we could categorize the system's locomotion into four types and obtain a stick-slip categorization diagram. In each zone of the diagram the locomotion exhibits qualitatively different stick-slip dynamics. Such categorization diagram is actually a sliding bifurcation diagram; crossing from one stick-slip zone to another corresponds to the triggering of a sliding bifurcation. In addition, a simplified single degree-of-freedom model is established, with the rationality of simplification been explained theoretically and numerically. Based on the equivalent model, a numerical stick-slip categorization is also obtained, which shows good agreement with the experiments both qualitatively and quantitatively. To the best of our knowledge, this is the first work that experimentally generates a sliding bifurcation diagram. The obtained stick-slip categorizations deepen our understanding of stick-slip dynamics in vibration-driven systems and could serve as a base for system design and optimization.

COLA with scale-dependent growth: applications to screened modified gravity models

Energy Technology Data Exchange (ETDEWEB)

Winther, Hans A.; Koyama, Kazuya; Wright, Bill S. [Institute of Cosmology and Gravitation, University of Portsmouth, Dennis Sciama Building, Burnaby Road, Portsmouth, PO1 3FX (United Kingdom); Manera, Marc [Centre for Theoretical Cosmology, Department of Applied Mathematics and Theoretical Physics, University of Cambridge, Wilberforce Road, Cambridge CB3 0WA (United Kingdom); Zhao, Gong-Bo, E-mail: hans.a.winther@gmail.com, E-mail: kazuya.koyama@port.ac.uk, E-mail: manera.work@gmail.com, E-mail: bill.wright@port.ac.uk, E-mail: gong-bo.Zhao@port.ac.uk [National Astronomy Observatories, Chinese Academy of Science, Beijing, 100012 (China)

2017-08-01

We present a general parallelized and easy-to-use code to perform numerical simulations of structure formation using the COLA (COmoving Lagrangian Acceleration) method for cosmological models that exhibit scale-dependent growth at the level of first and second order Lagrangian perturbation theory. For modified gravity theories we also include screening using a fast approximate method that covers all the main examples of screening mechanisms in the literature. We test the code by comparing it to full simulations of two popular modified gravity models, namely f ( R ) gravity and nDGP, and find good agreement in the modified gravity boost-factors relative to ΛCDM even when using a fairly small number of COLA time steps.

Effects of spaceflight on rhesus quadrupedal locomotion after return to 1G

Science.gov (United States)

Recktenwald, M. R.; Hodgson, J. A.; Roy, R. R.; Riazanski, S.; McCall, G. E.; Kozlovskaya, I.; Washburn, D. A.; Fanton, J. W.; Edgerton, V. R.; Rumbaugh, D. M. (Principal Investigator)

1999-01-01

Effects of spaceflight on Rhesus quadrupedal locomotion after return to 1G. Locomotor performance, activation patterns of the soleus (Sol), medial gastrocnemius (MG), vastus lateralis (VL), and tibialis anterior (TA) and MG tendon force during quadrupedal stepping were studied in adult Rhesus before and after 14 days of either spaceflight (n = 2) or flight simulation at 1G (n = 3). Flight simulation involved duplication of the spaceflight conditions and experimental protocol in a 1G environment. Postflight, but not postsimulation, electromyographic (EMG) recordings revealed clonus-like activity in all muscles. Compared with preflight, the cycle period and burst durations of the primary extensors (Sol, MG, and VL) tended to decrease postflight. These decreases were associated with shorter steps. The flexor (TA) EMG burst duration postflight was similar to preflight, whereas the burst amplitude was elevated. Consequently, the Sol:TA and MG:TA EMG amplitude ratios were lower following flight, reflecting a "flexor bias." Together, these alterations in mean EMG amplitudes reflect differential adaptations in motor-unit recruitment patterns of flexors and extensors as well as fast and slow motor pools. Shorter cycle period and burst durations persisted throughout the 20-day postflight testing period, whereas mean EMG returned to preflight levels by 17 days postflight. Compared with presimulation, the simulation group showed slight increases in the cycle period and burst durations of all muscles. Mean EMG amplitude decreased in the Sol, increased in the MG and VL, and was unchanged in the TA. Thus adaptations observed postsimulation were different from those observed postflight, indicating that there was a response unique to the microgravity environment, i.e., the modulations in the nervous system controlling locomotion cannot merely be attributed to restriction of movement but appear to be the result of changes in the interpretation of load-related proprioceptive feedback

Chaotic Darcy-Brinkman convection in a fluid saturated porous layer subjected to gravity modulation

Directory of Open Access Journals (Sweden)

Moli Zhao

2018-06-01

Full Text Available On the basis of Darcy-Brinkman model, the chaotic convection in a couple stress fluid saturated porous media under gravity modulation is investigated using the nonlinear stability analyses. The transition from steady convection to chaos is analysed with the effect of Darcy-Brinkman couple stress parameter and the gravity modulation. The results show that the chaotic behavior is connected with the critical value of Rayleigh number which is dependent upon the oscillation frequency and the Darcy-Brinkman couple stress parameter. If the oscillation frequency Ω is not zero, the Rayleigh number value R of the chaotic behavior increases with the increase of the Darcy-Brinkman couple stress parameter. The Darcy-Brinkman couple stress parameter and the gravity modulation decrease the rate of heat transfer. Keywords: Darcy-Brinkman model, Gravity modulation, Nonlinear stability, Chaotic convection

Massive gravity from bimetric gravity

International Nuclear Information System (INIS)

Baccetti, Valentina; Martín-Moruno, Prado; Visser, Matt

2013-01-01

We discuss the subtle relationship between massive gravity and bimetric gravity, focusing particularly on the manner in which massive gravity may be viewed as a suitable limit of bimetric gravity. The limiting procedure is more delicate than currently appreciated. Specifically, this limiting procedure should not unnecessarily constrain the background metric, which must be externally specified by the theory of massive gravity itself. The fact that in bimetric theories one always has two sets of metric equations of motion continues to have an effect even in the massive gravity limit, leading to additional constraints besides the one set of equations of motion naively expected. Thus, since solutions of bimetric gravity in the limit of vanishing kinetic term are also solutions of massive gravity, but the contrary statement is not necessarily true, there is no complete continuity in the parameter space of the theory. In particular, we study the massive cosmological solutions which are continuous in the parameter space, showing that many interesting cosmologies belong to this class. (paper)

Small-scale soft-bodied robot with multimodal locomotion

Science.gov (United States)

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

2018-02-01

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

Exact solutions of strong gravity in generalized metrics

International Nuclear Information System (INIS)

Hojman, R.; Smailagic, A.

1981-05-01

We consider classical solutions for the strong gravity theory of Salam and Strathdee in a wider class of metrics with positive, zero and negative curvature. It turns out that such solutions exist and their relevance for quark confinement is explored. Only metrics with positive curvature (spherical symmetry) give a confining potential in a simple picture of the scalar hadron. This supports the idea of describing the hadron as a closed microuniverse of the strong metric. (author)

Impact simulation in the gravity regime: Exploring the effects of parent body size and internal structure

Science.gov (United States)

Benavidez, P. G.; Durda, D. D.; Enke, B.; Bagatin, A. Campo; Richardson, D. C.; Asphaug, E.; Bottke, W. F.

2018-04-01

In this work we extend the systematic investigation of impact outcomes of 100-km-diameter targets started by Durda et al. (2007) and Benavidez et al. (2012) to targets of D = 400 km using the same range of impact conditions and two internal structures: monolithic and rubble-pile. We performed a new set of simulations in the gravity regime for targets of 400 km in diameter using these same internal structures. This provides a large set of 600 simulations performed in a systematic way that permits a thorough analysis of the impact outcomes and evaluation of the main features of the size frequency distribution due mostly to self-gravity. In addition, we use the impact outcomes to attempt to constrain the impact conditions of the asteroid belt where known asteroid families with a large expected parent body were formed. We have found fairly good matches for the Eunomia and Hygiea families. In addition, we identified a potential acceptable match to the Vesta family from a monolithic parent body of 468 km. The impact conditions of the best matches suggest that these families were formed in a dynamically excited belt. The results also suggest that the parent body of the Eunomia family could be a monolithic body of 382 km diameter, while the one for Hygiea could have a rubble-pile internal structure of 416 km diameter.

Modeling of gravity-imbibition and gravity-drainage processes: Analytic and numerical solutions

DEFF Research Database (Denmark)

Bech, N.; Jensen, O.K.; Nielsen, B.

1991-01-01

A matrix/fracture exchange model for a fractured reservoir simulator is described. Oil/water imbibition is obtained from a diffusion equation with water saturation as the dependent variable. Gas/oil gravity drainage and imbibition are calculated by taking into account the vertical saturation...... distribution in the matrix blocks....

Quantum cosmology of classically constrained gravity

International Nuclear Information System (INIS)

Gabadadze, Gregory; Shang Yanwen

2006-01-01

In [G. Gabadadze, Y. Shang, hep-th/0506040] we discussed a classically constrained model of gravity. This theory contains known solutions of General Relativity (GR), and admits solutions that are absent in GR. Here we study cosmological implications of some of these new solutions. We show that a spatially-flat de Sitter universe can be created from 'nothing'. This universe has boundaries, and its total energy equals to zero. Although the probability to create such a universe is exponentially suppressed, it favors initial conditions suitable for inflation. Then we discuss a finite-energy solution with a nonzero cosmological constant and zero space-time curvature. There is no tunneling suppression to fluctuate into this state. We show that for a positive cosmological constant this state is unstable-it can rapidly transition to a de Sitter universe providing a new unsuppressed channel for inflation. For a negative cosmological constant the space-time flat solutions is stable.

Introducing the refined gravity hypothesis of extreme sexual size dimorphism

Directory of Open Access Journals (Sweden)

Corcobado Guadalupe

2010-08-01

Full Text Available Abstract Background Explanations for the evolution of female-biased, extreme Sexual Size Dimorphism (SSD, which has puzzled researchers since Darwin, are still controversial. Here we propose an extension of the Gravity Hypothesis (i.e., the GH, which postulates a climbing advantage for small males that in conjunction with the fecundity hypothesis appears to have the most general power to explain the evolution of SSD in spiders so far. In this "Bridging GH" we propose that bridging locomotion (i.e., walking upside-down under own-made silk bridges may be behind the evolution of extreme SSD. A biomechanical model shows that there is a physical constraint for large spiders to bridge. This should lead to a trade-off between other traits and dispersal in which bridging would favor smaller sizes and other selective forces (e.g. fecundity selection in females would favor larger sizes. If bridging allows faster dispersal, small males would have a selective advantage by enjoying more mating opportunities. We predicted that both large males and females would show a lower propensity to bridge, and that SSD would be negatively correlated with sexual dimorphism in bridging propensity. To test these hypotheses we experimentally induced bridging in males and females of 13 species of spiders belonging to the two clades in which bridging locomotion has evolved independently and in which most of the cases of extreme SSD in spiders are found. Results We found that 1 as the degree of SSD increased and females became larger, females tended to bridge less relative to males, and that 2 smaller males and females show a higher propensity to bridge. Conclusions Physical constraints make bridging inefficient for large spiders. Thus, in species where bridging is a very common mode of locomotion, small males, by being more efficient at bridging, will be competitively superior and enjoy more mating opportunities. This "Bridging GH" helps to solve the controversial question of

Biomechanics of the Treadmill Locomotion on the International Space Station

Science.gov (United States)

DeWitt, John; Cromwell, R. L.; Ploutz-Snyder, L. L.

2014-01-01

Exercise prescriptions completed by International Space Station (ISS) crewmembers are typically based upon evidence obtained during ground-based investigations, with the assumption that the results of long-term training in weightlessness will be similar to that attained in normal gravity. Coupled with this supposition are the assumptions that exercise motions and external loading are also similar between gravitational environments. Normal control of locomotion is dependent upon learning patterns of muscular activation and requires continual monitoring of internal and external sensory input [1]. Internal sensory input includes signals that may be dependent on or independent of gravity. Bernstein hypothesized that movement strategy planning and execution must include the consideration of segmental weights and inertia [2]. Studies of arm movements in microgravity showed that individuals tend to make errors but that compensation strategies result in adaptations, suggesting that control mechanisms must include peripheral information [3-5]. To date, however, there have been no studies examining a gross motor activity such as running in weightlessness other than using microgravity analogs [6-8]. The objective of this evaluation was to collect biomechanical data from crewmembers during treadmill exercise before and during flight. The goal was to determine locomotive biomechanics similarities and differences between normal and weightless environments. The data will be used to optimize future exercise prescriptions. This project addresses the Critical Path Roadmap risks 1 (Accelerated Bone Loss and Fracture Risk) and 11 (Reduced Muscle Mass, Strength, and Endurance). Data were collected from 7 crewmembers before flight and during their ISS missions. Before launch, crewmembers performed a single data collection session at the NASA Johnson Space Center. Three-dimensional motion capture data were collected for 30 s at speeds ranging from 1.5 to 9.5 mph in 0.5 mph increments

Atom Interferometer Technologies in Space for Gravity Mapping and Gravity Science

Science.gov (United States)

Williams, Jason; Chiow, Sheng-Wey; Kellogg, James; Kohel, James; Yu, Nan

2015-05-01

Atom interferometers utilize the wave-nature of atomic gases for precision measurements of inertial forces, with potential applications ranging from gravity mapping for planetary science to unprecedented tests of fundamental physics with quantum gases. The high stability and sensitivity intrinsic to these devices already place them among the best terrestrial sensors available for measurements of gravitational accelerations, rotations, and gravity gradients, with the promise of several orders of magnitude improvement in their detection sensitivity in microgravity. Consequently, multiple precision atom-interferometer-based projects are under development at the Jet Propulsion Laboratory, including a dual-atomic-species interferometer that is to be integrated into the Cold Atom Laboratory onboard the International Space Station and a highly stable gravity gradiometer in a transportable design relevant for earth science measurements. We will present JPL's activities in the use of precision atom interferometry for gravity mapping and gravitational wave detection in space. Our recent progresses bringing the transportable JPL atom interferometer instrument to be competitive with the state of the art and simulations of the expected capabilities of a proposed flight project will also be discussed. This research was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration.

Satellite Attitude Control System Simulator

Directory of Open Access Journals (Sweden)

G.T. Conti

2008-01-01

Full Text Available Future space missions will involve satellites with great autonomy and stringent pointing precision, requiring of the Attitude Control Systems (ACS with better performance than before, which is function of the control algorithms implemented on board computers. The difficulties for developing experimental ACS test is to obtain zero gravity and torque free conditions similar to the SCA operate in space. However, prototypes for control algorithms experimental verification are fundamental for space mission success. This paper presents the parameters estimation such as inertia matrix and position of mass centre of a Satellite Attitude Control System Simulator (SACSS, using algorithms based on least square regression and least square recursive methods. Simulations have shown that both methods have estimated the system parameters with small error. However, the least square recursive methods have performance more adequate for the SACSS objectives. The SACSS platform model will be used to do experimental verification of fundamental aspects of the satellite attitude dynamics and design of different attitude control algorithm.

Zero inflated negative binomial-generalized exponential distributionand its applications

Directory of Open Access Journals (Sweden)

Sirinapa Aryuyuen

2014-08-01

Full Text Available In this paper, we propose a new zero inflated distribution, namely, the zero inflated negative binomial-generalized exponential (ZINB-GE distribution. The new distribution is used for count data with extra zeros and is an alternative for data analysis with over-dispersed count data. Some characteristics of the distribution are given, such as mean, variance, skewness, and kurtosis. Parameter estimation of the ZINB-GE distribution uses maximum likelihood estimation (MLE method. Simulated and observed data are employed to examine this distribution. The results show that the MLE method seems to have high efficiency for large sample sizes. Moreover, the mean square error of parameter estimation is increased when the zero proportion is higher. For the real data sets, this new zero inflated distribution provides a better fit than the zero inflated Poisson and zero inflated negative binomial distributions.

Modeling limbless locomotion using ADAMS software

Data.gov (United States)

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

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

Directory of Open Access Journals (Sweden)

Costas Boletsis

2017-09-01

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

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

Directory of Open Access Journals (Sweden)

B. E. Bodnar

2015-10-01

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

Dynamics of underwater legged locomotion: modeling and experiments on an octopus-inspired robot.

Science.gov (United States)

Calisti, M; Corucci, F; Arienti, A; Laschi, C

2015-07-30

This paper studies underwater legged locomotion (ULL) by means of a robotic octopus-inspired prototype and its associated model. Two different types of propulsive actions are embedded into the robot model: reaction forces due to leg contact with the ground and hydrodynamic forces such as the drag arising from the sculling motion of the legs. Dynamic parameters of the model are estimated by means of evolutionary techniques and subsequently the model is exploited to highlight some distinctive features of ULL. Specifically, the separation between the center of buoyancy (CoB)/center of mass and density affect the stability and speed of the robot, whereas the sculling movements contribute to propelling the robot even when its legs are detached from the ground. The relevance of these effects is demonstrated through robotic experiments and model simulations; moreover, by slightly changing the position of the CoB in the presence of the same feed-forward activation, a number of different behaviors (i.e. forward and backward locomotion at different speeds) are achieved.

Finding the Right Distribution for Highly Skewed Zero-inflated Clinical Data

Directory of Open Access Journals (Sweden)

Resmi Gupta

2013-03-01

Full Text Available Discrete, highly skewed distributions with excess numbers of zeros often result in biased estimates and misleading inferences if the zeros are not properly addressed. A clinical example of children with electrophysiologic disorders in which many of the children are treated without surgery is provided. The purpose of the current study was to identify the optimal modeling strategy for highly skewed, zeroinflated data often observed in the clinical setting by: (a simulating skewed, zero-inflated count data; (b fitting simulated data with Poisson, Negative Binomial, Zero-Inflated Poisson (ZIP and Zero-inflated Negative Binomial (ZINB models; and, (c applying the aforementioned models to actual, highlyskewed, clinical data of children with an EP disorder. The ZIP model was observed to be the optimal model based on traditional fit statistics as well as estimates of bias, mean-squared error, and coverage.  

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

Directory of Open Access Journals (Sweden)

B. Ye. Bodnar

2013-11-01

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

The Crustal Thickness of the Philippine Sea Plate Derived from Gravity Data

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Horng-Yuan Yen

2015-01-01

Full Text Available We constructed a new free-air gravity anomaly map of the Philippine Sea Plate (PSP using ship-tracked gravity data from the National Geophysical Data Center (NGDC. Our results show that the isogals trend correlates well with the tectonic structures in the PSP. After removing the gravity induced by sea water from the free-air gravity data, we obtained the regional Bouguer gravity anomaly, which is later used to compute the Moho geometry in the PSP by applying the Parker-Oldenburg iterative method. Our results indicate that in the southern part of the West Philippine Basin (WPB the crustal thickness is nearly homogeneous with a value of about 5 km, which implies that the WPB is quite stable. The low-amplitude and near-zero free-air gravity anomalies clearly indicate that the whole WPB, except at trenches and island arcs, is nearly in a state of isostatic equilibrium. The average crustal thickness of the Palau Kyushu Ridge (PKR is more than 10 km. In the eastern PSP the crustal thickness gradually increases eastward. Our results also imply that a relatively thin and low density mantle exists beneath the Parece Vela Basin (PVB as a consequence of back-arc spreading and serpentinized upwells of the thin crustal thickness.

Simulation-based evaluation of a cold atom interferometry gradiometer concept for gravity field recovery

Science.gov (United States)

Douch, Karim; Wu, Hu; Schubert, Christian; Müller, Jürgen; Pereira dos Santos, Franck

2018-03-01

The prospects of future satellite gravimetry missions to sustain a continuous and improved observation of the gravitational field have stimulated studies of new concepts of space inertial sensors with potentially improved precision and stability. This is in particular the case for cold-atom interferometry (CAI) gradiometry which is the object of this paper. The performance of a specific CAI gradiometer design is studied here in terms of quality of the recovered gravity field through a closed-loop numerical simulation of the measurement and processing workflow. First we show that mapping the time-variable field on a monthly basis would require a noise level below 5mE /√{Hz } . The mission scenarios are therefore focused on the static field, like GOCE. Second, the stringent requirement on the angular velocity of a one-arm gradiometer, which must not exceed 10-6 rad/s, leads to two possible modes of operation of the CAI gradiometer: the nadir and the quasi-inertial mode. In the nadir mode, which corresponds to the usual Earth-pointing satellite attitude, only the gradient Vyy , along the cross-track direction, is measured. In the quasi-inertial mode, the satellite attitude is approximately constant in the inertial reference frame and the 3 diagonal gradients Vxx,Vyy and Vzz are measured. Both modes are successively simulated for a 239 km altitude orbit and the error on the recovered gravity models eventually compared to GOCE solutions. We conclude that for the specific CAI gradiometer design assumed in this paper, only the quasi-inertial mode scenario would be able to significantly outperform GOCE results at the cost of technically challenging requirements on the orbit and attitude control.

Quantum gravity and the renormalisation group

International Nuclear Information System (INIS)

Litim, D.

2011-01-01

The Standard Model of particle physics is remarkably successful in describing three out of the four known fundamental forces of Nature. But what is up with gravity? Attempts to understand quantum gravity on the same footing as the other forces still face problems. Some time ago, it has been pointed out that gravity may very well exist as a fundamental quantum field theory provided its high-energy behaviour is governed by a fixed point under the renormalisation group. In recent years, this 'asymptotic safety' scenario has found significant support thanks to numerous renormalisation group studies, lattice simulations, and new ideas within perturbation theory. The lectures will give an introduction into the renormalisation group approach for quantum gravity, aimed at those who haven't met the topic before. After an introduction and overview, the key ideas and concepts of asymptotic safety for gravity are fleshed out. Results for gravitational high-energy fixed points and scaling exponents are discussed as well as key features of the gravitational phase diagram. The survey concludes with some phenomenological implications of fixed point gravity including the physics of black holes and particle physics beyond the Standard Model. (author)

On the rules for aquatic locomotion

Science.gov (United States)

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

2017-08-01

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

Valve-specific, analytic-phenomenological modelling of spray dispersion in zero-dimensional simulation; Ventilspezifische, analytisch-phaenomenologische Modellierung der Sprayausbreitung fuer die nulldimensionale Simulation

Energy Technology Data Exchange (ETDEWEB)

Schuerg, F.; Arndt, S. [Robert Bosch GmbH, Stuttgart (Germany); Weigand, B. [Stuttgart Univ. (Germany). Inst. fuer Thermodynamik der Luft- und Raumfahrt

2007-07-01

Spray-guided combustion processes for gasoline direct injection offer a great fuel saving potential. The quality of mixture formation has direct impact on combustion and emissions and ultimately on the technical feasibility of the consumption advantage. Therefore, it is very important to select the optimal mixture formation strategy. A systematic optimization of the mixture formation process based on experiments or three-dimensional computational fluid dynamics requires tremendous effort. An efficient alternative is the application-oriented, zero-dimensional numerical simulation of mixture formation. With a systemic model formulation in terms of global thermodynamic and fluid mechanical balance equations, the presented simulation model considers all relevant aspects of the mixture formation process. A comparison with measurements in a pressure/temperature chamber using laser-induced exciplex fluorescence tomography revealed a very satisfactory agreement between simulation and experiment. The newly developed, analytic-phenomenological spray propagation model precisely captures the injector-specific mixture formation characteristics of an annular-orifice injector in terms of penetration and volume. Vaporization rate and mean air/fuel ratio as the key quantities of mixture formation are correctly reproduced. Thus, the simulation model is suited to numerically assess the quality and to optimize the strategy of mixture formation. (orig.)

Venus gravity fields

Science.gov (United States)

Sjogren, W. L.; Ananda, M.; Williams, B. G.; Birkeland, P. W.; Esposito, P. S.; Wimberly, R. N.; Ritke, S. J.

1981-01-01

Results of Pioneer Venus Orbiter observations concerning the gravity field of Venus are presented. The gravitational data was obtained from reductions of Doppler radio tracking data for the Orbiter, which is in a highly eccentric orbit with periapsis altitude varying from 145 to 180 km and nearly fixed periapsis latitude of 15 deg N. The global gravity field was obtained through the simultaneous estimation of the orbit state parameters and gravity coefficients from long-period variations in orbital element rates. The global field has been described with sixth degree and order spherical harmonic coefficients, which are capable of resolving the three major topographical features on Venus. Local anomalies have been mapped using line-of-sight accelerations derived from the Doppler residuals between 40 deg N and 10 deg S latitude at approximately 300 km spatial resolution. Gravitational data is observed to correspond to topographical data obtained by radar altimeter, with most of the gravitational anomalies about 20-30 milligals. Simulations evaluating the isostatic states of two topographic features indicate that at least partial isostasy prevails, with the possibility of complete compensation.

Gravity waves from tachyonic preheating after hybrid inflation

Energy Technology Data Exchange (ETDEWEB)

Dufaux, Jean-Francois [Instituto de Fisica Teorica UAM/CSIC, Universidad Autonoma de Madrid, Cantoblanco, 28049 Madrid (Spain); Felder, Gary [Department of Physics, Clark Science Center, Smith College, Northampton, MA 01063 (United States); Kofman, Lev [CITA, University of Toronto, 60 St. George Street, Toronto, ON M5S 3H8 (Canada); Navros, Olga, E-mail: jeff.dufaux@uam.es, E-mail: gfelder@email.smith.edu, E-mail: kofman@cita.utoronto.ca, E-mail: navros@email.unc.edu [Department of Mathematics, University of North Carolina Chapel Hill, CB3250 Philips Hall, Chapel Hill, NC 27599 (United States)

2009-03-15

We study the stochastic background of gravitational waves produced from preheating in hybrid inflation models. We investigate different dynamical regimes of preheating in these models and we compute the resulting gravity wave spectra using analytical estimates and numerical simulations. We discuss the dependence of the gravity wave frequencies and amplitudes on the various potential parameters. We find that large regions of the parameter space leads to gravity waves that may be observable in upcoming interferometric experiments, including Advanced LIGO, but this generally requires very small coupling constants.

Anomaly cancellation for super-W-gravity

Energy Technology Data Exchange (ETDEWEB)

Mansfield, P. (Dept. of Theoretical Physics, Univ. of Oxford (United Kingdom)); Spence, B. (Dept. of Physics, Univ. of Southampton (United Kingdom))

1991-08-08

We generalise the description of minimal superconformal models coupled to supergravity, due to Distler, Hlousek and Kawaii, to super-W-gravity. When the chiral algebra is the generalisation of the W-algebra associated to any contragredient Lie superalgebra the total central charge vanishes as a result of Lie superalgebra identities. When the algebra has only fermionic simple roots there is N=1 superconformal invariance and for this case we describe the Lax operators and construct gravitationally dressed primary superfields of weight zero. We also prove the anomaly cancellation associated with the generalised non-abelian Toda theories. (orig.).

Anomaly cancellation for super-W-gravity

International Nuclear Information System (INIS)

Mansfield, P.; Spence, B.

1991-01-01

We generalise the description of minimal superconformal models coupled to supergravity, due to Distler, Hlousek and Kawaii, to super-W-gravity. When the chiral algebra is the generalisation of the W-algebra associated to any contragredient Lie superalgebra the total central charge vanishes as a result of Lie superalgebra identities. When the algebra has only fermionic simple roots there is N=1 superconformal invariance and for this case we describe the Lax operators and construct gravitationally dressed primary superfields of weight zero. We also prove the anomaly cancellation associated with the generalised non-abelian Toda theories. (orig.)

Dynamical structure of pure Lovelock gravity

Science.gov (United States)

Dadhich, Naresh; Durka, Remigiusz; Merino, Nelson; Miskovic, Olivera

2016-03-01

We study the dynamical structure of pure Lovelock gravity in spacetime dimensions higher than four using the Hamiltonian formalism. The action consists of a cosmological constant and a single higher-order polynomial in the Riemann tensor. Similarly to the Einstein-Hilbert action, it possesses a unique constant curvature vacuum and charged black hole solutions. We analyze physical degrees of freedom and local symmetries in this theory. In contrast to the Einstein-Hilbert case, the number of degrees of freedom depends on the background and can vary from zero to the maximal value carried by the Lovelock theory.

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

Science.gov (United States)

2010-10-01

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

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

Directory of Open Access Journals (Sweden)

D. M. Kozachenko

2017-12-01

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

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

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Yu. V. Zelenko

2016-06-01

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

A test of inflated zeros for Poisson regression models.

Science.gov (United States)

He, Hua; Zhang, Hui; Ye, Peng; Tang, Wan

2017-01-01

Excessive zeros are common in practice and may cause overdispersion and invalidate inference when fitting Poisson regression models. There is a large body of literature on zero-inflated Poisson models. However, methods for testing whether there are excessive zeros are less well developed. The Vuong test comparing a Poisson and a zero-inflated Poisson model is commonly applied in practice. However, the type I error of the test often deviates seriously from the nominal level, rendering serious doubts on the validity of the test in such applications. In this paper, we develop a new approach for testing inflated zeros under the Poisson model. Unlike the Vuong test for inflated zeros, our method does not require a zero-inflated Poisson model to perform the test. Simulation studies show that when compared with the Vuong test our approach not only better at controlling type I error rate, but also yield more power.

Energetic Extremes in Aquatic Locomotion by Coral Reef Fishes

Science.gov (United States)

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

2013-01-01

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

Energetic extremes in aquatic locomotion by coral reef fishes.

Directory of Open Access Journals (Sweden)

Christopher J Fulton

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

The Determination of the Asynchronous Traction Motor Characteristics of Locomotive

Directory of Open Access Journals (Sweden)

Pavel Grigorievich Kolpakhchyan

2017-01-01

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

Quasi-dynamic walk of a quadruped locomotion robot using optimal tracking control

International Nuclear Information System (INIS)

Uchida, Hiroaki; Nonami, Kenzo; Chiba, Yasunori; Koyama, Kakutaro.

1994-01-01

Recently, many research works of quadruped locomotion robots, which are considered to be operable on irregular terrain, have been carried out. In the case of realizing ideal motion control of the quadruped locomotion robot, it is assumed that hierarchical cooperative control consisting of decentralized control and centralized control is desirable. In the case that the locomotion robot moves at high speed, it is impossible to follow the desired trajectory because using only the feedback control method includes time delay. It is known that feedforward control input is valid for such motion control. In this paper, decentralized control is realized to apply optimal tracking control using feedforward control input to the quadruped locomotion robot, as the first step. As a result, it is determined that the angle variation of the foot and the stride applying optimal tracking control input are large compared with using only feedback control. It is verified that feedforward control input is useful to control the trajectory of the tip of the foot in high speed locomotion. (author)

Zero-G experimental validation of a robotics-based inertia identification algorithm

Science.gov (United States)

Bruggemann, Jeremy J.; Ferrel, Ivann; Martinez, Gerardo; Xie, Pu; Ma, Ou

2010-04-01

The need to efficiently identify the changing inertial properties of on-orbit spacecraft is becoming more critical as satellite on-orbit services, such as refueling and repairing, become increasingly aggressive and complex. This need stems from the fact that a spacecraft's control system relies on the knowledge of the spacecraft's inertia parameters. However, the inertia parameters may change during flight for reasons such as fuel usage, payload deployment or retrieval, and docking/capturing operations. New Mexico State University's Dynamics, Controls, and Robotics Research Group has proposed a robotics-based method of identifying unknown spacecraft inertia properties1. Previous methods require firing known thrusts then measuring the thrust, and the velocity and acceleration changes. The new method utilizes the concept of momentum conservation, while employing a robotic device powered by renewable energy to excite the state of the satellite. Thus, it requires no fuel usage or force and acceleration measurements. The method has been well studied in theory and demonstrated by simulation. However its experimental validation is challenging because a 6- degree-of-freedom motion in a zero-gravity condition is required. This paper presents an on-going effort to test the inertia identification method onboard the NASA zero-G aircraft. The design and capability of the test unit will be discussed in addition to the flight data. This paper also introduces the design and development of an airbearing based test used to partially validate the method, in addition to the approach used to obtain reference value for the test system's inertia parameters that can be used for comparison with the algorithm results.

Neurobiology of Caenorhabditis elegans Locomotion: Where Do We Stand?

OpenAIRE

Gjorgjieva, Julijana; Biron, David; Haspel, Gal

2014-01-01

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

Damages and resource of locomotive wheels used under the north operating conditions

Directory of Open Access Journals (Sweden)

A. V. Grigorev

2014-01-01

Full Text Available In operating railway equipment, in particular the elements, such as a wheel and a rail there is damage accumulation of any kind, causing a premature equipment failure. Thus, an analysis of the mechanisms and modeling of damage accumulation and fracture both on the surface and in the bulk material remain a challenge.Data on the defective wheel sets to be subjected to facing has been collected and analyzed to assess the locomotive wheel sets damage of the locomotive fleet company of AK «Yakutia Railways», city of Aldan, The Republic of Sakha (Yakutia. For this purpose, three main locomotives have been examined.The object of research carried out in this paper, is a locomotive wheels tire, which is subjected to cyclic impact (dynamic loads during operation. In this regard, the need arises to determine both the strength of material in response to such shock loads and the quantitative calculation of damage accumulated therein.The accumulated fatigue damage has been attributed to one radial cross section of the wheel coming into contact with the rail once per revolution of the wheel. Consequently, in one revolution a wheel is under one loading cycle. As stated, the average mileage of locomotives to have the unacceptable damages formed on the tread surface is 12 thousand km.Test results establish that along with the high-cycle loading the shock-contact action on rail joints significantly affects the accumulation of damage in the locomotive wheels tire. The number of cycles to failure due to the formation of unacceptable damage in the locomotive wheels tire is N = 2,4×106 and 6×105 cycles, respectively, for fatigue and shock-contact loading.In general, we can say that the problem of higher intensity to form the surface damage is directly related to the operation of the locomotive wheel tire under abnormally low climatic temperatures. With decreasing ambient temperature, this element material rapidly looses its plastic properties, thereby accelerating

Massive gravity wrapped in the cosmic web

International Nuclear Information System (INIS)

Shim, Junsup; Lee, Jounghun; Li, Baojiu

2014-01-01

We study how the filamentary pattern of the cosmic web changes if the true gravity deviates from general relativity (GR) on a large scale. The f(R) gravity, whose strength is controlled to satisfy the current observational constraints on the cluster scale, is adopted as our fiducial model and a large, high-resolution N-body simulation is utilized for this study. By applying the minimal spanning tree algorithm to the halo catalogs from the simulation at various epochs, we identify the main stems of the rich superclusters located in the most prominent filamentary section of the cosmic web and determine their spatial extents per member cluster to be the degree of their straightness. It is found that the f(R) gravity has the effect of significantly bending the superclusters and that the effect becomes stronger as the universe evolves. Even in the case where the deviation from GR is too small to be detectable by any other observables, the degree of the supercluster straightness exhibits a conspicuous difference between the f(R) and the GR models. Our results also imply that the supercluster straightness could be a useful discriminator of f(R) gravity from the coupled dark energy since it is shown to evolve differently between the two models. As a final conclusion, the degree of the straightness of the rich superclusters should provide a powerful cosmological test of large scale gravity.

Massive gravity wrapped in the cosmic web

Energy Technology Data Exchange (ETDEWEB)

Shim, Junsup; Lee, Jounghun [Astronomy Program, Department of Physics and Astronomy, FPRD, Seoul National University, Seoul 151-747 (Korea, Republic of); Li, Baojiu, E-mail: jsshim@astro.snu.ac.kr, E-mail: jounghun@astro.snu.ac.kr [Institute of Computational Cosmology, Department of Physics, Durham University, Durham DH1 3LE (United Kingdom)

2014-03-20

We study how the filamentary pattern of the cosmic web changes if the true gravity deviates from general relativity (GR) on a large scale. The f(R) gravity, whose strength is controlled to satisfy the current observational constraints on the cluster scale, is adopted as our fiducial model and a large, high-resolution N-body simulation is utilized for this study. By applying the minimal spanning tree algorithm to the halo catalogs from the simulation at various epochs, we identify the main stems of the rich superclusters located in the most prominent filamentary section of the cosmic web and determine their spatial extents per member cluster to be the degree of their straightness. It is found that the f(R) gravity has the effect of significantly bending the superclusters and that the effect becomes stronger as the universe evolves. Even in the case where the deviation from GR is too small to be detectable by any other observables, the degree of the supercluster straightness exhibits a conspicuous difference between the f(R) and the GR models. Our results also imply that the supercluster straightness could be a useful discriminator of f(R) gravity from the coupled dark energy since it is shown to evolve differently between the two models. As a final conclusion, the degree of the straightness of the rich superclusters should provide a powerful cosmological test of large scale gravity.

Physiological aspects of legged terrestrial locomotion the motor and the machine

CERN Document Server

Cavagna, Giovanni

2017-01-01

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

A 3D musculo-mechanical model of the salamander for the study of different gaits and modes of locomotion

Directory of Open Access Journals (Sweden)

Nalin eHarischandra

2010-12-01

Full Text Available Computer simulation has been used to investigate several aspectsof locomotion in salamanders. Here we introduce a three-dimensionalforward dynamics mechanical model of a salamander, with physicallyrealistic weight and size parameters. Movements of the four limbs and ofthe trunk and tail are generated by sets of linearly modeled skeletalmuscles. In this study, activation of these muscles were driven byprescribed neural output patterns. The model was successfully used tomimic locomotion on level ground and in water. We compare thewalking gait where a wave of activity in the axial muscles travelsbetween the girdles, with the trotting gait in simulations usingthe musculo-mechanical model. In a separate experiment, the model is usedto compare different strategies for turning while stepping; either bybending the trunk or by using side-stepping in the front legs. We foundthat for turning, the use of side-stepping alone or in combination withtrunk bending, was more effective than the use of trunk bending alone. Weconclude that the musculo-mechanical model described here together with aproper neural controller is useful for neuro-physiological experiments insilico.

Analysis of Welding Zinc Coated Steel Sheets in Zero Gap Configuration by 3D Simulations and High Speed Imaging

Science.gov (United States)

Koch, Holger; Kägeler, Christian; Otto, Andreas; Schmidt, Michael

Welding of zinc coated sheets in zero gap configuration is of eminent interest for the automotive industry. This Laser welding process would enable the automotive industry to build auto bodies with a high durability in a plain manufacturing process. Today good welding results can only be achieved by expensive constructive procedures such as clamping devices to ensure a defined gad. The welding in zero gap configuration is a big challenge because of the vaporised zinc expelled from the interface between the two sheets. To find appropriate welding parameters for influencing the keyhole and melt pool dynamics, a three dimensional simulation and a high speed imaging system for laser keyhole welding have been developed. The obtained results help to understand the process of the melt pool perturbation caused by vaporised zinc.

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

Science.gov (United States)

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

2014-07-16

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

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

OpenAIRE

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

2010-01-01

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

Fluid Mechanics of Aquatic Locomotion at Large Reynolds Numbers

OpenAIRE

Govardhan, RN; Arakeri, JH

2011-01-01

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

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

Science.gov (United States)

2010-10-01

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

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

Science.gov (United States)

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

2015-12-01

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

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

Science.gov (United States)

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

2014-01-01

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

Effects of Gravity and Inlet/Outlet Location on a Two-Phase Cocurrent Imbibition in Porous Media

Directory of Open Access Journals (Sweden)

M. F. El-Amin

2011-01-01

Full Text Available We introduce 2D numerical investigations of the problem of gravity and inlet/outlet location effects of water-oil two-phase cocurrent imbibition in a porous medium. Three different cases of side-, top-, and bottom-inlet location are considered. Two-dimensional computations are carried out using the finite element method. Intensive comparisons are done between considering and neglecting gravity effect on water saturation, pressures of water and oil as well as water velocity. Results are introduced either in curves or as 2D visualization graphs. The results indicate that the buoyancy effects due to gravity force take place depending on inlet location. So, the buoyancy force in the momentum equations of the co-current imbibition model cannot be neglected as done by several previous studies. Also, we note that the 2D zero gravity model has a uniform flow and may be represented as 1D flow unlike the 2D nonzero gravity model showing a nonuniform flow.

Effects of gravity and inlet/outlet location on a two-phase cocurrent imbibition in porous media

KAUST Repository

El-Amin, Mohamed

2011-01-01

We introduce 2D numerical investigations of the problem of gravity and inlet/outlet location effects of water-oil two-phase cocurrent imbibition in a porous medium. Three different cases of side-, top-, and bottom-inlet location are considered. Two-dimensional computations are carried out using the finite element method. Intensive comparisons are done between considering and neglecting gravity effect on water saturation, pressures of water and oil as well as water velocity. Results are introduced either in curves or as 2D visualization graphs. The results indicate that the buoyancy effects due to gravity force take place depending on inlet location. So, the buoyancy force in the momentum equations of the co-current imbibition model cannot be neglected as done by several previous studies. Also, we note that the 2D zero gravity model has a uniform flow and may be represented as 1D flow unlike the 2D nonzero gravity model showing a nonuniform flow. Copyright 2011 M. F. El-Amin and Shuyu Sun.

Scattering amplitudes in super-renormalizable gravity

International Nuclear Information System (INIS)

Donà, Pietro; Giaccari, Stefano; Modesto, Leonardo; Rachwał, Lesław; Zhu, Yiwei

2015-01-01

We explicitly compute the tree-level on-shell four-graviton amplitudes in four, five and six dimensions for local and weakly nonlocal gravitational theories that are quadratic in both, the Ricci and scalar curvature with form factors of the d’Alembertian operator inserted between. More specifically we are interested in renormalizable, super-renormalizable or finite theories. The scattering amplitudes for these theories turn out to be the same as the ones of Einstein gravity regardless of the explicit form of the form factors. As a special case the four-graviton scattering amplitudes in Weyl conformal gravity are identically zero. Using a field redefinition, we prove that the outcome is correct for any number of external gravitons (on-shell n−point functions) and in any dimension for a large class of theories. However, when an operator quadratic in the Riemann tensor is added in any dimension (with the exception of the Gauss-Bonnet term in four dimensions) the result is completely altered, and the scattering amplitudes depend on all the form factors introduced in the action.

Capture orbits around asteroids by hitting zero-velocity curves

Science.gov (United States)

Wang, Wei; Yang, Hongwei; Zhang, Wei; Ma, Guangfu

2017-12-01

The problem of capturing a spacecraft from a heliocentric orbit into a high parking orbit around binary asteroids is investigated in the current study. To reduce the braking Δ V, a new capture strategy takes advantage of the three-body gravity of the binary asteroid to lower the inertial energy before applying the Δ V. The framework of the circular restricted three-body problem (CR3BP) is employed for the binary asteroid system. The proposed capture strategy is based on the mechanism by which inertial energy can be decreased sharply near zero-velocity curves (ZVCs). The strategy has two steps, namely, hitting the target ZVC and raising the periapsis by a small Δ V at the apoapsis. By hitting the target ZVC, the positive inertial energy decreases and becomes negative. Using a small Δ V, the spacecraft inserts into a bounded orbit around the asteroid. In addition, a rotating mass dipole model is employed for elongated asteroids, which leads to dynamics similar to that of the CR3BP. With this approach, the proposed capture strategy can be applied to elongated asteroids. Numerical simulations validate that the proposed capture strategy is applicable for the binary asteroid 90 Antiope and the elongated asteroid 216 Kleopatra.

General heavenly equation governs anti-self-dual gravity

Energy Technology Data Exchange (ETDEWEB)

Malykh, A A [Department of Numerical Modelling, Russian State Hydrometeorlogical University, Malookhtinsky pr 98, 195196 St Petersburg (Russian Federation); Sheftel, M B, E-mail: andrei-malykh@mail.ru, E-mail: mikhail.sheftel@boun.edu.tr [Department of Physics, Bogazici University, 34342 Bebek, Istanbul (Turkey)

2011-04-15

We show that the general heavenly equation, suggested recently by Doubrov and Ferapontov (2010 arXiv:0910.3407v2 [math.DG]), governs anti-self-dual (ASD) gravity. We derive ASD Ricci-flat vacuum metric governed by the general heavenly equation, null tetrad and basis of 1-forms for this metric. We present algebraic exact solutions of the general heavenly equation as a set of zeros of homogeneous polynomials in independent and dependent variables. A real solution is obtained for the case of a neutral signature.

Locomotion of bacteria in liquid flow and the boundary layer effect on bacterial attachment.

Science.gov (United States)

Zhang, Chao; Liao, Qiang; Chen, Rong; Zhu, Xun

2015-06-12

The formation of biofilm greatly affects the performance of biological reactors, which highly depends on bacterial swimming and attachment that usually takes place in liquid flow. Therefore, bacterial swimming and attachment on flat and circular surfaces with the consideration of flow was studied experimentally. Besides, a mathematical model comprehensively combining bacterial swimming and motion with flow is proposed for the simulation of bacterial locomotion and attachment in flow. Both experimental and theoretical results revealed that attached bacteria density increases with decreasing boundary layer thickness on both flat and circular surfaces, the consequence of which is inherently related to the competition between bacterial swimming and the non-slip motion with flow evaluated by the Péclet number. In the boundary layer, where the Péclet number is relatively higher, bacterial locomotion mainly depends on bacterial swimming. Thinner boundary layer promotes bacterial swimming towards the surface, leading to higher attachment density. To enhance the performance of biofilm reactors, it is effective to reduce the boundary layer thickness on desired surfaces. Copyright © 2015 Elsevier Inc. All rights reserved.

FPGA implementation of a configurable neuromorphic CPG-based locomotion controller.

Science.gov (United States)

Barron-Zambrano, Jose Hugo; Torres-Huitzil, Cesar

2013-09-01

Neuromorphic engineering is a discipline devoted to the design and development of computational hardware that mimics the characteristics and capabilities of neuro-biological systems. In recent years, neuromorphic hardware systems have been implemented using a hybrid approach incorporating digital hardware so as to provide flexibility and scalability at the cost of power efficiency and some biological realism. This paper proposes an FPGA-based neuromorphic-like embedded system on a chip to generate locomotion patterns of periodic rhythmic movements inspired by Central Pattern Generators (CPGs). The proposed implementation follows a top-down approach where modularity and hierarchy are two desirable features. The locomotion controller is based on CPG models to produce rhythmic locomotion patterns or gaits for legged robots such as quadrupeds and hexapods. The architecture is configurable and scalable for robots with either different morphologies or different degrees of freedom (DOFs). Experiments performed on a real robot are presented and discussed. The obtained results demonstrate that the CPG-based controller provides the necessary flexibility to generate different rhythmic patterns at run-time suitable for adaptable locomotion. Copyright © 2013 Elsevier Ltd. All rights reserved.

Dynamically Stable Legged Locomotion

Science.gov (United States)

1989-09-01

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

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

Science.gov (United States)

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

2018-06-01

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

The effect of gravity on the motor control of landing

OpenAIRE

Gambelli, Clément

2016-01-01

Landing from a fall is a complex action requiring the prediction of the instant of contact with the ground. Since humans have developed motor actions on Earth, the nervous system and the sensory input processing are optimized to the Earth’s gravity. The aim of this study is to assess human motor control of landing in different conditions of fall initiation, simulated gravity and sensory neural input. Hypergravity was simulated either on Earth with a Subject Loading System (SLS) generating a p...

Acceleration from Modified Gravity: Lessons from Worked Examples

International Nuclear Information System (INIS)

Hu, Wayne

2009-01-01

I examine how two specific examples of modified gravity explanations of cosmic acceleration help us understand some general problems confronting cosmological tests of gravity: how do we distinguish modified gravity from dark energy if they can be made formally equivalent? how do we parameterize deviations according to physical principles with sufficient generality, yet focus cosmological tests into areas that complement our existing knowledge of gravity? how do we treat the dynamics of modifications which necessarily involve non-linearities that preclude superposition of forces? The modified action f(R) and DGP braneworld models provide insight on these question as fully-worked examples whose expansion history, linear perturbation theory, and most recently, non-linear N-body and force-modification field dynamics of cosmological simulations are available for study.

Project Fog Drops 5. Task 1: A numerical model of advection fog. Task 2: Recommendations for simplified individual zero-gravity cloud physics experiments

Science.gov (United States)

Rogers, C. W.; Eadie, W. J.; Katz, U.; Kocmond, W. C.

1975-01-01

A two-dimensional numerical model was used to investigate the formation of marine advection fog. The model predicts the evolution of potential temperature, horizontal wind, water vapor content, and liquid water content in a vertical cross section of the atmosphere as determined by vertical turbulent transfer and horizontal advection, as well as radiative cooling and drop sedimentation. The model is designed to simulate the formation, development, or dissipation of advection fog in response to transfer of heat and moisture between the atmosphere and the surface as driven by advection over horizontal discontinuities in the surface temperature. Results from numerical simulations of advection fog formation are discussed with reference to observations of marine fog. A survey of candidate fog or cloud microphysics experiments which might be performed in the low gravity environment of a shuttle-type spacecraft in presented. Recommendations are given for relatively simple experiments which are relevent to fog modification problems.

2D gravity, random surfaces and all that

International Nuclear Information System (INIS)

Ambjoern, J.

1990-11-01

I review the recent progress in 2d gravity and discuss the new numerical simulations for 2d gravity and for random surfaces in d>2. The random surface theories of interest in d>2 have extrinsic curvature terms, and for a finite value of the extrinsic curvature coupling there seems to be a second order phase transition where the string tension scales. (orig.)

Mars gravity field error analysis from simulated radio tracking of Mars Observer

International Nuclear Information System (INIS)

Smith, D.E.; Lerch, F.J.; Chan, J.C.; Chinn, D.S.; Iz, H.B.; Mallama, A.; Patel, G.B.

1990-01-01

The Mars Observer (MO) Mission, in a near-polar orbit at 360-410 km altitude for nearly a 2-year observing period, will greatly improve our understanding of the geophysics of Mars, including its gravity field. To assess the expected improvement of the gravity field, the authors have conducted an error analysis based upon the mission plan for the Mars Observer radio tracking data from the Deep Space Network. Their results indicate that it should be possible to obtain a high-resolution model (spherical harmonics complete to degree and order 50 corresponding to a 200-km horizontal resolution) for the gravitational field of the planet. This model, in combination with topography from MO altimetry, should provide for an improved determination of the broad scale density structure and stress state of the Martian crust and upper mantle. The mathematical model for the error analysis is based on the representation of doppler tracking data as a function of the Martian gravity field in spherical harmonics, solar radiation pressure, atmospheric drag, angular momentum desaturation residual acceleration (AMDRA) effects, tracking station biases, and the MO orbit parameters. Two approaches are employed. In the first case, the error covariance matrix of the gravity model is estimated including the effects from all the nongravitational parameters (noise-only case). In the second case, the gravity recovery error is computed as above but includes unmodelled systematic effects from atmospheric drag, AMDRA, and solar radiation pressure (biased case). The error spectrum of gravity shows an order of magnitude of improvement over current knowledge based on doppler data precision from a single station of 0.3 mm s -1 noise for 1-min integration intervals during three 60-day periods

Computer modeling describes gravity-related adaptation in cell cultures.

Science.gov (United States)

Alexandrov, Ludmil B; Alexandrova, Stoyana; Usheva, Anny

2009-12-16

Questions about the changes of biological systems in response to hostile environmental factors are important but not easy to answer. Often, the traditional description with differential equations is difficult due to the overwhelming complexity of the living systems. Another way to describe complex systems is by simulating them with phenomenological models such as the well-known evolutionary agent-based model (EABM). Here we developed an EABM to simulate cell colonies as a multi-agent system that adapts to hyper-gravity in starvation conditions. In the model, the cell's heritable characteristics are generated and transferred randomly to offspring cells. After a qualitative validation of the model at normal gravity, we simulate cellular growth in hyper-gravity conditions. The obtained data are consistent with previously confirmed theoretical and experimental findings for bacterial behavior in environmental changes, including the experimental data from the microgravity Atlantis and the Hypergravity 3000 experiments. Our results demonstrate that it is possible to utilize an EABM with realistic qualitative description to examine the effects of hypergravity and starvation on complex cellular entities.

Zero-crossing statistics for non-Markovian time series.

Science.gov (United States)

Nyberg, Markus; Lizana, Ludvig; Ambjörnsson, Tobias

2018-03-01

In applications spanning from image analysis and speech recognition to energy dissipation in turbulence and time-to failure of fatigued materials, researchers and engineers want to calculate how often a stochastic observable crosses a specific level, such as zero. At first glance this problem looks simple, but it is in fact theoretically very challenging, and therefore few exact results exist. One exception is the celebrated Rice formula that gives the mean number of zero crossings in a fixed time interval of a zero-mean Gaussian stationary process. In this study we use the so-called independent interval approximation to go beyond Rice's result and derive analytic expressions for all higher-order zero-crossing cumulants and moments. Our results agree well with simulations for the non-Markovian autoregressive model.

Zero-crossing statistics for non-Markovian time series

Science.gov (United States)

Nyberg, Markus; Lizana, Ludvig; Ambjörnsson, Tobias

2018-03-01

In applications spanning from image analysis and speech recognition to energy dissipation in turbulence and time-to failure of fatigued materials, researchers and engineers want to calculate how often a stochastic observable crosses a specific level, such as zero. At first glance this problem looks simple, but it is in fact theoretically very challenging, and therefore few exact results exist. One exception is the celebrated Rice formula that gives the mean number of zero crossings in a fixed time interval of a zero-mean Gaussian stationary process. In this study we use the so-called independent interval approximation to go beyond Rice's result and derive analytic expressions for all higher-order zero-crossing cumulants and moments. Our results agree well with simulations for the non-Markovian autoregressive model.

Anomaly cancellation for super- W -gravity

Science.gov (United States)

Mansfield, P.; Spence, B.

1991-08-01

We generalise the description of minimal superconformal models coupled to supergravity, due to Distler, Hlousek and Kawaii, to super- W -gravity. When the chiral algebra is the generalisation of the W-algebra associated to any contragredient Lie superalgebra the total central charge vanishes as a result of Lie superalgebra identities. When the algebra has only fermionic simple roots there is N = 1 superconformal invariance and for this case we describe the Lax operators and construct gravitationally dressed primary superfields of weight zero. We also prove the anomaly cancellation associated with the generalised non-abelian Toda theories. Address from 1 October 1991: Physics Department, Imperial College, London SW7 2BZ, UK.

Holographic Fermi and Non-Fermi Liquids with Transitions in Dilaton Gravity

CERN Document Server

Iizuka, Norihiro; Narayan, Prithvi; Trivedi, Sandip P

2012-01-01

We study the two-point function for fermionic operators in a class of strongly coupled systems using the gauge-gravity correspondence. The gravity description includes a gauge field and a dilaton which determines the gauge coupling and the potential energy. Extremal black brane solutions in this system typically have vanishing entropy. By analyzing a charged fermion in these extremal black brane backgrounds we calculate the two-point function of the corresponding boundary fermionic operator. We find that in some region of parameter space it is of Fermi liquid type. Outside this region no well-defined quasi-particles exist, with the excitations acquiring a non-vanishing width at zero frequency. At the transition, the two-point function can exhibit non-Fermi liquid behaviour.

Synergy temporal sequences and topography in the spinal cord: evidence for a traveling wave in frog locomotion.

Science.gov (United States)

Saltiel, Philippe; d'Avella, Andrea; Wyler-Duda, Kuno; Bizzi, Emilio

2016-11-01

Locomotion is produced by a central pattern generator. Its spinal cord organization is generally considered to be distributed, with more rhythmogenic rostral lumbar segments. While this produces a rostrocaudally traveling wave in undulating species, this is not thought to occur in limbed vertebrates, with the exception of the interneuronal traveling wave demonstrated in fictive cat scratching (Cuellar et al. J Neurosci 29:798-810, 2009). Here, we reexamine this hypothesis in the frog, using the seven muscle synergies A to G previously identified with intraspinal NMDA (Saltiel et al. J Neurophysiol 85:605-619, 2001). We find that locomotion consists of a sequence of synergy activations (A-B-G-A-F-E-G). The same sequence is observed when focal NMDA iontophoresis in the spinal cord elicits a caudal extension-lateral force-flexion cycle (flexion onset without the C synergy). Examining the early NMDA-evoked motor output at 110 sites reveals a rostrocaudal topographic organization of synergy encoding by the lumbar cord. Each synergy is preferentially activated from distinct regions, which may be multiple, and partially overlap between different synergies. Comparing the sequence of synergy activation in locomotion with their spinal cord topography suggests that the locomotor output is achieved by a rostrocaudally traveling wave of activation in the swing-stance cycle. A two-layer circuitry model, based on this topography and a traveling wave reproduces this output and explores its possible modifications under different afferent inputs. Our results and simulations suggest that a rostrocaudally traveling wave of excitation takes advantage of the topography of interneuronal regions encoding synergies, to activate them in the proper sequence for locomotion.

Chiral properties of two-flavour QCD at zero and non-zero temperature

Energy Technology Data Exchange (ETDEWEB)

Brandt, Bastian Benjamin

2012-11-22

Lattice Quantum Chromodynamics (LQCD) is the preferred tool for obtaining non-perturbative results from QCD in the low-energy regime. It has by now entered the era in which high precision calculations for a number of phenomenologically relevant observables at the physical point, with dynamical quark degrees of freedom and controlled systematics, become feasible. Despite these successes there are still quantities where control of systematic effects is insufficient. The subject of this thesis is the exploration of the potential of todays state-of-the-art simulation algorithms for non-perturbatively O(a)-improved Wilson fermions to produce reliable results in the chiral regime and at the physical point both for zero and non-zero temperature. Important in this context is the control over the chiral extrapolation. This thesis is concerned with two particular topics, namely the computation of hadronic form factors at zero temperature, and the properties of the phase transition in the chiral limit of two-flavour QCD. The electromagnetic iso-vector form factor of the pion provides a platform to study systematic effects and the chiral extrapolation for observables connected to the structure of mesons (and baryons). Mesonic form factors are computationally simpler than their baryonic counterparts but share most of the systematic effects. This thesis contains a comprehensive study of the form factor in the regime of low momentum transfer q{sup 2}, where the form factor is connected to the charge radius of the pion. A particular emphasis is on the region very close to q{sup 2}=0 which has not been explored so far, neither in experiment nor in LQCD. The results for the form factor close the gap between the smallest spacelike q{sup 2}-value available so far and q{sup 2}=0, and reach an unprecedented accuracy at full control over the main systematic effects. This enables the model-independent extraction of the pion charge radius. The results for the form factor and the charge

Chiral properties of two-flavour QCD at zero and non-zero temperature

International Nuclear Information System (INIS)

Brandt, Bastian Benjamin

2012-01-01

Lattice Quantum Chromodynamics (LQCD) is the preferred tool for obtaining non-perturbative results from QCD in the low-energy regime. It has by now entered the era in which high precision calculations for a number of phenomenologically relevant observables at the physical point, with dynamical quark degrees of freedom and controlled systematics, become feasible. Despite these successes there are still quantities where control of systematic effects is insufficient. The subject of this thesis is the exploration of the potential of todays state-of-the-art simulation algorithms for non-perturbatively O(a)-improved Wilson fermions to produce reliable results in the chiral regime and at the physical point both for zero and non-zero temperature. Important in this context is the control over the chiral extrapolation. This thesis is concerned with two particular topics, namely the computation of hadronic form factors at zero temperature, and the properties of the phase transition in the chiral limit of two-flavour QCD. The electromagnetic iso-vector form factor of the pion provides a platform to study systematic effects and the chiral extrapolation for observables connected to the structure of mesons (and baryons). Mesonic form factors are computationally simpler than their baryonic counterparts but share most of the systematic effects. This thesis contains a comprehensive study of the form factor in the regime of low momentum transfer q 2 , where the form factor is connected to the charge radius of the pion. A particular emphasis is on the region very close to q 2 =0 which has not been explored so far, neither in experiment nor in LQCD. The results for the form factor close the gap between the smallest spacelike q 2 -value available so far and q 2 =0, and reach an unprecedented accuracy at full control over the main systematic effects. This enables the model-independent extraction of the pion charge radius. The results for the form factor and the charge radius are used to

Development of quadruped walking locomotion gait generator using a hybrid method

International Nuclear Information System (INIS)

Jasni, F; Shafie, A A

2013-01-01

The earth, in many areas is hardly reachable by the wheeled or tracked locomotion system. Thus, walking locomotion system is becoming a favourite option for mobile robot these days. This is because of the ability of walking locomotion to move on the rugged and unlevel terrains. However, to develop a walking locomotion gait for a robot is not a simple task. Central Pattern Generator (CPGs) method is a biological inspired method that is introduced as a method to develop the gait for the walking robot recently to tackle the issue faced by the conventional method of pre-designed trajectory based method. However, research shows that even the CPG method do have some limitations. Thus, in this paper, a hybrid method that combines CPG and the pre-designed trajectory based method is introduced to develop a walking gait for quadruped walking robot. The 3-D foot trajectories and the joint angle trajectories developed using the proposed method are compared with the data obtained via the conventional method of pre-designed trajectory to confirm the performance

Saltation under Martian gravity and its influence on the global dust distribution

Science.gov (United States)

Musiolik, Grzegorz; Kruss, Maximilian; Demirci, Tunahan; Schrinski, Björn; Teiser, Jens; Daerden, Frank; Smith, Michael D.; Neary, Lori; Wurm, Gerhard

2018-05-01

Dust and sand motion are a common sight on Mars. Understanding the interaction of atmosphere and Martian soil is fundamental to describe the planet's weather, climate and surface morphology. We set up a wind tunnel to study the lift of a mixture between very fine sand and dust in a Mars simulant soil. The experiments were carried out under Martian gravity in a parabolic flight. The reduced gravity was provided by a centrifuge under external microgravity. The onset of saltation was measured for a fluid threshold shear velocity of 0.82 ± 0.04 m/s. This is considerably lower than found under Earth gravity. In addition to a reduction in weight, this low threshold can be attributed to gravity dependent cohesive forces within the sand bed, which drop by 2/3 under Martian gravity. The new threshold for saltation leads to a simulation of the annual dust cycle with a Mars GCM that is in agreement with observations.

Naked singularities are not singular in distorted gravity

Energy Technology Data Exchange (ETDEWEB)

Garattini, Remo, E-mail: Remo.Garattini@unibg.it [Università degli Studi di Bergamo, Facoltà di Ingegneria, Viale Marconi 5, 24044 Dalmine (Bergamo) (Italy); I.N.F.N. – sezione di Milano, Milan (Italy); Majumder, Barun, E-mail: barunbasanta@iitgn.ac.in [Indian Institute of Technology Gandhinagar, Ahmedabad, Gujarat 382424 (India)

2014-07-15

We compute the Zero Point Energy (ZPE) induced by a naked singularity with the help of a reformulation of the Wheeler–DeWitt equation. A variational approach is used for the calculation with Gaussian Trial Wave Functionals. The one loop contribution of the graviton to the ZPE is extracted keeping under control the UltraViolet divergences by means of a distorted gravitational field. Two examples of distortion are taken under consideration: Gravity's Rainbow and Noncommutative Geometry. Surprisingly, we find that the ZPE is no more singular when we approach the singularity.

Naked singularities are not singular in distorted gravity

Science.gov (United States)

Garattini, Remo; Majumder, Barun

2014-07-01

We compute the Zero Point Energy (ZPE) induced by a naked singularity with the help of a reformulation of the Wheele-DeWitt equation. A variational approach is used for the calculation with Gaussian Trial Wave Functionals. The one loop contribution of the graviton to the ZPE is extracted keeping under control the UltraViolet divergences by means of a distorted gravitational field. Two examples of distortion are taken under consideration: Gravity's Rainbow and Noncommutative Geometry. Surprisingly, we find that the ZPE is no more singular when we approach the singularity.

Naked singularities are not singular in distorted gravity

International Nuclear Information System (INIS)

Garattini, Remo; Majumder, Barun

2014-01-01

We compute the Zero Point Energy (ZPE) induced by a naked singularity with the help of a reformulation of the Wheeler–DeWitt equation. A variational approach is used for the calculation with Gaussian Trial Wave Functionals. The one loop contribution of the graviton to the ZPE is extracted keeping under control the UltraViolet divergences by means of a distorted gravitational field. Two examples of distortion are taken under consideration: Gravity's Rainbow and Noncommutative Geometry. Surprisingly, we find that the ZPE is no more singular when we approach the singularity

Conformal field theory and 2D quantum gravity

International Nuclear Information System (INIS)

Distler, J.; Kawai, Hikaru

1989-01-01

Inspired by the recent work of Knizhnik, Polyakov and Zamolodchikov on the solution of 2D quantum gravity in the 'light cone' gauge, we present a proposal for solving the theory in the usual conformal gauge. Our results for the critical exponents of the theory agree with the genus-zero results of KPZ. Since our formalism naturally generalizes to higher-genus Riemann surfaces, we obtain the critical exponents for all genera. The corresponding results for the supersymmetric case are presented. We also show how to calculate correlation functions in these theories. (orig.)

Sustained periodic terrestrial locomotion in air-breathing fishes.

Science.gov (United States)

Pace, C M; Gibb, A C

2014-03-01

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

Distribution-free Inference of Zero-inated Binomial Data for Longitudinal Studies.

Science.gov (United States)

He, H; Wang, W J; Hu, J; Gallop, R; Crits-Christoph, P; Xia, Y L

2015-10-01

Count reponses with structural zeros are very common in medical and psychosocial research, especially in alcohol and HIV research, and the zero-inflated poisson (ZIP) and zero-inflated negative binomial (ZINB) models are widely used for modeling such outcomes. However, as alcohol drinking outcomes such as days of drinkings are counts within a given period, their distributions are bounded above by an upper limit (total days in the period) and thus inherently follow a binomial or zero-inflated binomial (ZIB) distribution, rather than a Poisson or zero-inflated Poisson (ZIP) distribution, in the presence of structural zeros. In this paper, we develop a new semiparametric approach for modeling zero-inflated binomial (ZIB)-like count responses for cross-sectional as well as longitudinal data. We illustrate this approach with both simulated and real study data.

Cosmological and black hole brane-world universes in higher derivative gravity

International Nuclear Information System (INIS)

Nojiri, Shin'ichi; Odintsov, Sergei D.; Ogushi, Sachiko

2002-01-01

A general model of multidimensional R 2 gravity including a Riemann tensor square term (nonzero c case) is considered. The number of brane-worlds in such a model is constructed (mainly in five dimensions) and their properties are discussed. The thermodynamics of a Schwarzschild-anti-deSitter (S-AdS) BH (with boundary) is presented when perturbation on c is used. The entropy, free energy, and energy are calculated. For a nonzero c the entropy (energy) is not proportional to the area (mass). The equation of motion of the brane in a BH background is presented as a FRW equation. Using a dual CFT description it is shown that the dual field theory is not a conformal one when c is not zero. In this case the holographic entropy does not coincide with the BH entropy (they coincide for Einstein gravity or c=0 HD gravity where the AdS/CFT description is well applied). An asymmetrically warped background (an analogue of a charged AdS BH) where Lorentz invariance violation occurs is found. The cosmological 4D dS brane connecting two dS bulk spaces is formulated in terms of the parameters of R 2 gravity. Within the proposed dS/CFT correspondence the holographic conformal anomaly from five-dimensional higher derivative gravity in a de Sitter background is evaluated

Zero field reversal probability in thermally assisted magnetization reversal

Science.gov (United States)

Prasetya, E. B.; Utari; Purnama, B.

2017-11-01

This paper discussed about zero field reversal probability in thermally assisted magnetization reversal (TAMR). Appearance of reversal probability in zero field investigated through micromagnetic simulation by solving stochastic Landau-Lifshitz-Gibert (LLG). The perpendicularly anisotropy magnetic dot of 50×50×20 nm3 is considered as single cell magnetic storage of magnetic random acces memory (MRAM). Thermally assisted magnetization reversal was performed by cooling writing process from near/almost Curie point to room temperature on 20 times runs for different randomly magnetized state. The results show that the probability reversal under zero magnetic field decreased with the increase of the energy barrier. The zero-field probability switching of 55% attained for energy barrier of 60 k B T and the reversal probability become zero noted at energy barrier of 2348 k B T. The higest zero-field switching probability of 55% attained for energy barrier of 60 k B T which corespond to magnetif field of 150 Oe for switching.

High-resolution simulations of downslope gravity currents in the acceleration phase

Science.gov (United States)

Dai, Albert

2015-07-01

Gravity currents generated from an instantaneous buoyancy source propagating down a slope in the range of 0∘ ≤ θ fundamental difference in flow patterns, which helps explain the distinct characteristics of gravity currents on high and low slope angles using scaling arguments, is revealed. Energy budgets further show that, as the slope angle increases, the ambient fluid is more easily engaged in the gravitational convection and the potential energy loss is more efficiently converted into the kinetic energy associated with ambient fluid. The propagation of gravity currents on a slope is found to be qualitatively modified as the depth ratio, i.e., the lock height to channel height ratio, approaches unity. As the depth ratio increases, the conversion of potential energy loss into the kinetic energy associated with heavy fluid is inhibited and the conversion into the kinetic energy associated with ambient fluid is enhanced by the confinement of the top wall.

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

Science.gov (United States)

Carvalho Coutinho, Ludmilla; Alves de Oliveira, João

2017-10-01

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

Differences in gaze anticipation for locomotion with and without vision

Science.gov (United States)

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

2015-01-01

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

Chaotic exploration and learning of locomotion behaviors.

Science.gov (United States)

Shim, Yoonsik; Husbands, Phil

2012-08-01

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

The Role of Adaptation in Body Load-Regulating Mechanisms During Locomotion

Science.gov (United States)

Ruttley, Tara; Holt, Christopher; Mulavara, Ajitkumar; Bloomberg, Jacob

2010-01-01

Body loading is a fundamental parameter that modulates motor output during locomotion, and is especially important for controlling the generation of stepping patterns, dynamic balance, and termination of locomotion. Load receptors that regulate and control posture and stance in locomotion include the Golgi tendon organs and muscle spindles at the hip, knee, and ankle joints, and the Ruffini endings and the Pacinian corpuscles in the soles of the feet. Increased body weight support (BWS) during locomotion results in an immediate reorganization of locomotor control, such as a reduction in stance and double support duration and decreased hip, ankle, and knee angles during the gait cycle. Previous studies on the effect during exposure to increased BWS while walking showed a reduction in lower limb joint angles and gait cycle timing that represents a reorganization of locomotor control. Until now, no studies have investigated how locomotor control responds after a period of exposure to adaptive modification in the body load sensing system. The goal of this research was to determine the adaptive properties of body load-regulating mechanisms in locomotor control during locomotion. We hypothesized that body load-regulating mechanisms contribute to locomotor control, and adaptive changes in these load-regulating mechanisms require reorganization to maintain forward locomotion. Head-torso coordination, lower limb movement patterns, and gait cycle timing were evaluated before and after a 30-minute adaptation session during which subjects walked on a treadmill at 5.4 km/hr with 40% body weight support (BWS). Before and after the adaptation period, head-torso and lower limb 3D kinematic data were obtained while performing a goal directed task during locomotion with 0% BWS using a video-based motion analysis system, and gait cycle timing parameters were collected by foot switches positioned under the heel and toe of the subjects shoes. Subjects showed adaptive modification in

Evanescent Effects Can Alter Ultraviolet Divergences in Quantum Gravity without Physical Consequences

CERN Document Server

Bern, Zvi; Chi, Huan-Hang; Davies, Scott; Dixon, Lance; Nohle, Josh

2015-01-01

Evanescent operators such as the Gauss-Bonnet term have vanishing perturbative matrix elements in exactly D=4 dimensions. Similarly, evanescent fields do not propagate in D=4; a three-form field is in this class, since it is dual to a cosmological-constant contribution. In this Letter, we show that evanescent operators and fields modify the leading ultraviolet divergence in pure gravity. To analyze the divergence, we compute the two-loop identical-helicity four-graviton amplitude and determine the coefficient of the associated (non-evanescent) R^3 counterterm studied long ago by Goroff and Sagnotti. We compare two pairs of theories that are dual in D=4: gravity coupled to nothing or to three-form matter, and gravity coupled to zero-form or to two-form matter. Duff and van Nieuwenhuizen showed that, curiously, the one-loop conformal anomaly --- the coefficient of the Gauss-Bonnet operator --- changes under p-form duality transformations. We concur, and also find that the leading R^3 divergence changes under du...

Out-reach in-space technology experiments program: Control of flexible robot manipulators in zero gravity, experiment definition phase

Science.gov (United States)

Phillips, Warren F.

1989-01-01

The results obtained show that it is possible to control light-weight robots with flexible links in a manner that produces good response time and does not induce unacceptable link vibrations. However, deflections induced by gravity cause large static position errors with such a control system. For this reason, it is not possible to use this control system for controlling motion in the direction of gravity. The control system does, on the other hand, have potential for use in space. However, in-space experiments will be needed to verify its applicability to robots moving in three dimensions.

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

OpenAIRE

Viktor GUTAREVICH

2011-01-01

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

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

NARCIS (Netherlands)

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

2017-01-01

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

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

Science.gov (United States)

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

2009-01-01

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