Redundancy resolution using a tractrix and its application to real-time simulations of hyper-redundant manipulators, snakes and tying of knots

To realistically simulate the motion of flexible objects such as ropes, strings, snakes, or human hair,one strategy is to discretise the object into a large number of small rigid links connected by rotary or spherical joints. The discretised system is highly redundant and the rotations at the joints (or the motion of the other links) for a desired Cartesian motion of the end of a link cannot be solved uniquely. In this paper, we propose a novel strategy to resolve the redundancy in such hyper-redundant systems.We make use of the classical tractrix curve and its attractive features. For a desired Cartesian motion of the `head'of a link, the `tail' of the link is moved according to a tractrix,and recursively all links of the discretised objects are moved along different tractrix curves. We show that the use of a tractrix curve leads to a more `natural' motion of the entire object since the motion is distributed uniformly along the entire object with the displacements tending to diminish from the `head' to the `tail'. We also show that the computation of the motion of the links can be done in real time since it involves evaluation of simple algebraic, trigonometric and hyperbolic functions. The strategy is illustrated by simulations of a snake, tying of knots with a rope and a solution of the inverse kinematics of a planar hyper-redundant manipulator.

Analysis of the degrees-of-freedom of spatial parallel manipulators in regular and singular configurations

This paper presents a study of the nature of the degrees-of-freedom of spatial manipulators based on the concept of partition of degrees-of-freedom. In particular, the partitioning of degrees-of-freedom is studied in five lower-mobility spatial parallel manipulators possessing different combinations of degrees-of-freedom. An extension of the existing theory is introduced so as to analyse the nature of the gained degree(s)-of-freedom at a gain-type singularity. The gain of one- and two-degrees-of-freedom is analysed in several well-studied, as well as newly developed manipulators. The formulations also present a basis for the analysis of the velocity kinematics of manipulators of any architecture. (C) 2013 Elsevier Ltd. All rights reserved.

Effect of the Flow Rule on the Bearing Capacity of Strip Foundations on Sand by the Upper-Bound Limit Analysis and Slip Lines

The influence of the flow rule on the bearing capacity of strip foundations placed on sand was investigated using a new kinematic approach of upper-bound limit analysis. The method of stress characteristics was first used to find the mechanism of the failure and to compute the stress field by using the Mohr-Coulomb yield criterion. Once the failure mechanism had been established, the kinematics of the plastic deformation was established, based on the requirements of the upper-bound limit theorem. Both associated and nonassociated plastic flows were considered, and the bearing capacity was obtained by equating the rate of external plastic work to the rate of the internal energy dissipation for both smooth and rough base foundations. The results obtained from the analysis were compared with those available from the literature. (C) 2014 American Society of Civil Engineers.

MAXIMUM A-POSTERIORI ESTIMATION OF MISSING SAMPLES WITH CONTINUITY CONSTRAINT IN ELECTROMAGNETIC ARTICULOGRAPHY DATA

Electromagnetic Articulography (EMA) technique is used to record the kinematics of different articulators while one speaks. EMA data often contains missing segments due to sensor failure. In this work, we propose a maximum a-posteriori (MAP) estimation with continuity constraint to recover the missing samples in the articulatory trajectories recorded using EMA. In this approach, we combine the benefits of statistical MAP estimation as well as the temporal continuity of the articulatory trajectories. Experiments on articulatory corpus using different missing segment durations show that the proposed continuity constraint results in a 30% reduction in average root mean squared error in estimation over statistical estimation of missing segments without any continuity constraint.

Multiwavelength features of Fermi bubbles as signatures of a Galactic wind

Using hydrodynamical simulations, we show for the first time that an episode of star formation in the centre of the Milky Way, with a star formation rate (SFR) similar to 0.5 M-circle dot yr(-1) for similar to 30 Myr, can produce bubbles that resemble the Fermi bubbles (FBs), when viewed from the solar position. The morphology, extent and multiwavelength observations of FBs, especially X-rays, constrain various physical parameters such as SFR, age, and the circumgalactic medium (CGM) density. We show that the interaction of the CGM with the Galactic wind driven by star formation in the central region can explain the observed surface brightness and morphological features of X-rays associated with the FBs. Furthermore, assuming that cosmic ray electrons are accelerated in situ by shocks and/or turbulence, the brightness and morphology of gamma-ray emission and the microwave haze can be explained. The kinematics of the cold and warm clumps in our model also matches with recent observations of absorption lines through the bubbles.

Structural and clumped-isotope constraints on the mechanisms of displacement along low-angle detachments

Despite years of research on low-angle detachments, much about them remains enigmatic. This thesis addresses some of the uncertainty regarding two particular detachments, the Mormon Peak detachment in Nevada and the Heart Mountain detachment in Wyoming and Montana.

Constraints on the geometry and kinematics of emplacement of the Mormon Peak detachment are provided by detailed geologic mapping of the Meadow Valley Mountains, along with an analysis of structural data within the allochthon in the Mormon Mountains. Identifiable structures well suited to constrain the kinematics of the detachment include a newly mapped, Sevier-age monoclinal flexure in the hanging wall of the detachment. This flexure, including the syncline at its base and the anticline at its top, can be readily matched to the base and top of the frontal Sevier thrust ramp, which is exposed in the footwall of the detachment to the east in the Mormon Mountains and Tule Springs Hills. The ~12 km of offset of these structural markers precludes the radial sliding hypothesis for emplacement of the allochthon.

The role of fluids in the slip along faults is a widely investigated topic, but the use of carbonate clumped-isotope thermometry to investigate these fluids is new. Faults rocks from within ~1 m of the Mormon Peak detachment, including veins, breccias, gouges, and host rocks, were analyzed for carbon, oxygen, and clumped-isotope measurements. The data indicate that much of the carbonate breccia and gouge material along the detachment is comminuted host rock, as expected. Measurements in vein material indicate that the fluid system is dominated by meteoric water, whose temperature indicates circulation to substantial depths (c. 4 km) in the upper crust near the fault zone.

Slip along the subhorizontal Heart Mountain detachment is particularly enigmatic, and many different mechanisms for failure have been proposed, predominantly involving catastrophic failure. Textural evidence of multiple slip events is abundant, and include multiple brecciation events and cross-cutting clastic dikes. Footwall deformation is observed in numerous exposures of the detachment. Stylolitic surfaces and alteration textures within and around “banded grains” previously interpreted to be an indicator of high-temperature fluidization along the fault suggest their formation instead via low-temperature dissolution and alteration processes. There is abundant textural evidence of the significant role of fluids along the detachment via pressure solution. The process of pressure solution creep may be responsible for enabling multiple slip events on the low-angle detachment, via a local rotation of the stress field.

Clumped-isotope thermometry of fault rocks associated with the Heart Mountain detachment indicates that despite its location on the flanks of a volcano that was active during slip, the majority of carbonate along the Heart Mountain detachment does not record significant heating above ambient temperatures (c. 40-70°C). Instead, cold meteoric fluids infiltrated the detachment breccia, and carbonate precipitated under ambient temperatures controlled by structural depth. Locally, fault gouge does preserve hot temperatures (>200°C), as is observed in both the Mormon Peak detachment and Heart Mountain detachment areas. Samples with very hot temperatures attributable to frictional shear heating are present but rare. They appear to be best preserved in hanging wall structures related to the detachment, rather than along the main detachment.

Evidence is presented for the prevalence of relatively cold, meteoric fluids along both shallow crustal detachments studied, and for protracted histories of slip along both detachments. Frictional heating is evident from both areas, but is a minor component of the preserved fault rock record. Pressure solution is evident, and might play a role in initiating slip on the Heart Mountain fault, and possibly other low-angle detachments.

A measurement of B0-B0 mixing in e+e- annihilation at 29 GeV

This thesis describes a measurement of B⁰- B⁰ mixing in events produced by electron-positron annihilation at a center of mass energy of 29 GeV. The data were taken by the Mark II detector in the PEP storage ring at the Stanford Linear Accelerator Center between 1981 and 1987, and correspond to a total integrated luminosity of 224pb^-1.

We used a new method, based on the kinematics of hadronic events containing two leptons, to provide a measurement of the probability, x, that a hadron, initially containing a b (b) quark decays to a positive (negative) lepton to be X = 0.17^+0.15_-0.08, with 90% confidence level upper and lower limits of 0.38 and 0.06, respectively, including all estimated systematic errors. Because of the good separation of signal and background, this result is relatively insensitive to various systematic effects which have complicated previous measurements.

We interpret this result as evidence for the mixing of neutral B mesons. Based on existing B⁰_d mixing rate measurements, and some assumptions about the fractions of B⁰_d and B⁰_s mesons present in the data, this result favors maximal mixing of B⁰_s mesons, although it cannot rule out zero B⁰_s mixing at the 90% confidence level.

The polarization of the recoil proton in ETA photoproduction

We measured the recoil proton polarization in the process γp → pη at the 1.5 GeV Caltech electron synchrotron, at photon energies from 0.8 to 1.1 GeV, and at center-of-mass production angles around 90°. A counter-spark chamber array was used to determine the kinematics of all particles in the final state of the partial mode γp → pη (η → 2γ). The protons' polarization was determined by measuring an asymmetry in scattering off carbon. Analysis of 280,000 pictures yielded 2400 useful scatters with a background which was 30% of the foreground. The polarization results show a sizeable opposite parity interference at 830 MeV, 950 MeV, and 1100 MeV.

A fully-nonlocal energy-based formulation and high-performance realization of the quasicontinuum method

The quasicontinuum (QC) method was introduced to coarse-grain crystalline atomic ensembles in order to bridge the scales from individual atoms to the micro- and mesoscales. Though many QC formulations have been proposed with varying characteristics and capabilities, a crucial cornerstone of all QC techniques is the concept of summation rules, which attempt to efficiently approximate the total Hamiltonian of a crystalline atomic ensemble by a weighted sum over a small subset of atoms. In this work we propose a novel, fully-nonlocal, energy-based formulation of the QC method with support for legacy and new summation rules through a general energy-sampling scheme. Our formulation does not conceptually differentiate between atomistic and coarse-grained regions and thus allows for seamless bridging without domain-coupling interfaces. Within this structure, we introduce a new class of summation rules which leverage the affine kinematics of this QC formulation to most accurately integrate thermodynamic quantities of interest. By comparing this new class of summation rules to commonly-employed rules through analysis of energy and spurious force errors, we find that the new rules produce no residual or spurious force artifacts in the large-element limit under arbitrary affine deformation, while allowing us to seamlessly bridge to full atomistics. We verify that the new summation rules exhibit significantly smaller force artifacts and energy approximation errors than all comparable previous summation rules through a comprehensive suite of examples with spatially non-uniform QC discretizations in two and three dimensions. Due to the unique structure of these summation rules, we also use the new formulation to study scenarios with large regions of free surface, a class of problems previously out of reach of the QC method. Lastly, we present the key components of a high-performance, distributed-memory realization of the new method, including a novel algorithm for supporting unparalleled levels of deformation. Overall, this new formulation and implementation allows us to efficiently perform simulations containing an unprecedented number of degrees of freedom with low approximation error.

Photoproduction of ETA mesons from hydrogen at photon energies between 0.8 and 1.45 GeV

We measured the differential cross section of the process γp → pƞ at the 1.5 GeV Caltech electron synchrotron, at photon energies from 0.8 to 1.45 GeV, at various angles between 45° and 100° in the center of mass. A counter-spark chamber array was used to determine the kinematics of all particles in the final state of the partial mode γp → pƞ (ƞ → 2γ). Analysis of 40,000 pictures yielded 6,000 events above a background which varied with energy from 5% to 30% of foreground. The cross section shows an energy dependence confirming earlier results up to 1000 MeV, but with improved statistics; it then remains roughly constant (at 50° C.M.), to 1.45 GeV. The data show a small angular variation, within the limited range covered, at energies between 1000 and 1100 MeV.

The unsteady development of a turbulent wake through a downstream low-pressure turbine blade passage

This paper presents two-dimensional LDA measurements of the convection of a wake through a low-pressure (LP) turbine cascade. Previous studies have shown the wake convection to be kinematic but have not provided details of the turbulent field. The spatial resolution of these measurements has facilitated the calculation of the production of turbulent kinetic energy and this has revealed a mechanism for turbulence production as the wake converts through the bladerow. The measured ensemble-averaged velocity field confirmed the previously reported kinematics of wake convection while the measurements of the turbulence quantities showed the wake fluid to be characterised by elevated levels of turbulent kinetic energy (TKE) and to have an anisotropic structure. Based on the measured mean and turbulence quantities, the production of turbulent kinetic energy was calculated. This highlighted a TKE production mechanism that resulted in increased levels of turbulence over the rear suction surface where boundary layer transition occurs. The turbulence production mechanism within the bladerow was also observed to produce more nearly isotropic turbulence. Production occurs when the principal stresses within the wake are aligned with the mean strains. This coincides with the maximum distortion of the wake within the blade passage and provides a mechanism for the production of turbulence outside of the boundary layer.

Geometry of Miura-folded metamaterials.

This paper describes two folded metamaterials based on the Miura-ori fold pattern. The structural mechanics of these metamaterials are dominated by the kinematics of the folding, which only depends on the geometry and therefore is scale-independent. First, a folded shell structure is introduced, where the fold pattern provides a negative Poisson's ratio for in-plane deformations and a positive Poisson's ratio for out-of-plane bending. Second, a cellular metamaterial is described based on a stacking of individual folded layers, where the folding kinematics are compatible between layers. Additional freedom in the design of the metamaterial can be achieved by varying the fold pattern within each layer.

Experimental studies of an accelerating, pitching, flat plate at low Reynolds number

The understanding of low Reynolds number aerodynamics is becoming increasingly prevalent with the recent surge in interest in advanced Micro-Air Vehicle (MAV) technology. Research in this area has been primarily stimulated by a military need for smaller, more versatile, autonomous, surveillance aircraft. The mechanism for providing the high lift coefficient required forMAV applications is thought to be largely influenced by the formation of a Leading Edge Vortex (LEV). This paper analyses experimentally, the influence of the LEV effect for a flat plate wing (AR = 4) under fast and slow pitch-up motions at Re =10,000 using a combination of dye flow visualisation and PIV measurements. It is found that a fast pitch over 1c shows a flow topology dominant LEV, while for a slow pitch case over 6c, the flow is largely separated. The development of the suction surface flow and the LEV was strongly correlated with the kinematics of the leading edge, suggesting that the effective local angle of incidence at the Leading Edge (LE) is of considerable significance in unsteady pitching motions. © 2013 by P.R.R.J Stevens.

Study of unbound nuclei N-11 resonance energy level

The excitation functions of elastic scattering proton which were measured with inverse kinematics of elastic resonance scattering reactions in GANIL and MSU have been fitted by the multi-energy level R-matrix theory. The final result shows that the new energy levels order for nucleus N-11 should be 1/2(+), 1/2(-), 5/2(+), 3/2(+), 3/2(-), 5/2(+), 7/2(-), which is consistent with the experimental results of Be-11 (the mirror nucleus of N-11) and the theoretical calculation of N-11 with GCM theory.

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.