Investigation of two-proton emission from excited states of the odd-Z nucleus P-28 by complete-kinematics measurements

An experiment to study exotic two-proton emission from excited levels of the odd-Z nucleus P-28 was performed at the National Laboratory of Heavy Ion Research-Radioactive Ion Beam Line (HIRFL-RIBLL) facility. The projectile P-28 at the energy of 46.5 MeV/u was bombarding a Au-197 target to populate the excited states via Coulomb excitation. Complete-kinematics measurements were realized by the array of silicon strip detectors and the CsI + PIN telescope. Two-proton events were selected and the relativistic-kinematics reconstruction was carried out. The spectrum of relative momentum and opening angle between two protons was deduced from Monte Carlo simulations. Experimental results show that two-proton emission from P-28 excited states less than 17.0 MeV is mainly two-body sequential emission or three-body simultaneous decay in phase space. The present simulations cannot distinguish these two decay modes. No obvious diproton emission was found.

Line Kinematics for Whole-Arm Manipulation

A Whole-Arm Manipulator uses every surface to both sense and interact with the environment. To facilitate the analysis and control of a Whole-Arm Manipulator, line geometry is used to describe the location and trajectory of the links. Applications of line kinematics are described and implemented on the MIT Whole-Arm Manipulator (WAM-1).

Model Selection for Solving Kinematics Problems

There has been much interest in the area of model-based reasoning within the Artificial Intelligence community, particularly in its application to diagnosis and troubleshooting. The core issue in this thesis, simply put, is, model-based reasoning is fine, but whence the model? Where do the models come from? How do we know we have the right models? What does the right model mean anyway? Our work has three major components. The first component deals with how we determine whether a piece of information is relevant to solving a problem. We have three ways of determining relevance: derivational, situational and an order-of-magnitude reasoning process. The second component deals with the defining and building of models for solving problems. We identify these models, determine what we need to know about them, and importantly, determine when they are appropriate. Currently, the system has a collection of four basic models and two hybrid models. This collection of models has been successfully tested on a set of fifteen simple kinematics problems. The third major component of our work deals with how the models are selected.

Dexterous Robotic Hands: Kinematics and Control

This report presents issues relating to the kinematics and control of dexterous robotic hands using the Utah-MIT hand as an illustrative example. The emphasis throughout is on the actual implementation and testing of the theoretical concepts presented. The kinematics of such hands is interesting and complicated owing to the large number of degrees of freedom involved. The implementation of position and force control algorithms on such tendon driven hands has previously suffered from inefficient formulations and a lack of sophisticated computer hardware. Both these problems are addressed in this report. A multiprocessor architecture has been built with high performance microcomputers on which real-time algorithms can be efficiently implemented. A large software library has also been built to facilitate flexible software development on this architecture. The position and force control algorithms described herein have been implemented and tested on this hardware.

A Biomechanical Model of Human Oculomotor Plant Kinematics Based Upon Geometric Algebra

A biomechanical model of the human oculomotor plant kinematics in 3-D as a function of muscle length changes is presented. It can represent a range of alternative interpretations of the data as a function of one parameter. The model is free from such deficits as singularities and the nesting of axes found in alternative formulations such as the spherical wrist (Paul, l98l). The equations of motion are defined on a quaternion based representation of eye rotations and are compact atnd computationally efficient.

A Network for Learning Kinematics with Application to Human Reaching Models

A model for self-organization of the coordinate transformations required for spatial reaching is presented. During a motor babbling phase, a mapping from spatial coordinate directions to joint motion directions is learned. After learning, the model is able to produce straight-line spatial velocity trajectories with characteristic bell-shaped spatial velocity profiles, as observed in human reaches. Simulation results are presented for transverse plane reaching using a two degree-of-freedom arm.

An investigation of the aspects of occupant behavior required for evacuation modeling

This article examines occupant behavior exhibited during evacuation conditions. This is based on a review of a wide range of published literature concerned with evacuation. Factors influencing evacuation performance can be categorized into four broad areas, namely, configurational, environmental, procedural, and, most importantly, behavioral. The contributory factors associated with each of the four influencing categories are examined in detail and it is suggested that these factors should be represented within evacuation models.

Advanced occupant behavioural features of the building-EXODUS evacuation model

The purpose of this paper is to describe and demonstrate some of the advanced behavioral features currently being developed for the building-EXODUS evacuation model. These advanced features involve the ability to specify roles for particular individuals during the evacuation. With these enhancements to the Behavioral Sub model of building-EXODUS, it is possible to include a number of procedural and behavioral aspects previously ignored in evacuation simulations. These include the behavioral aspect of group bonding, the procedural aspects involved with the role of the fire warden and rescue operations undertaken by the fire services. The importance of these enhancements are discussed and demonstrated through three simple simulations.

Modelling occupant interaction with fire conditions using the buildingEXODUS evacuation model

When evacuating through fire environments, the presence of smoke may not only have a physiological impact on the evacuees but may also lead occupants to adapt their evacuation strategy through the adoption of another exit. This paper attempts to introduce this type of adaptive behaviour within the buildingEXODUS evacuation model through enabling occupants to make decisions concerning the selection of the most viable available exit during an evacuation involving fire. The development of this adaptive behaviour requires the introduction of several new capabilities namely, the representation of the occupants’ familiarity with the structure, the behaviour of an occupant that is engulfed in smoke and the behaviour of an occupant that is faced with a smoke barrier. The appropriateness of the redirection decision is dependent upon behavioural data gathered from real fire incidents (in the UK and USA) that is used to construct the redirection probabilities. The implementation is shown to provide a more complex and arguably more realistic representation of this behaviour than that provided previously.