Efeitos de torques gravitacionais na dinâmica de asteróides múltiplos

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Dynamics of railway wagons subjected to braking torques on defective tracks

It is well known that track defects cause profound effects to the dynamics of railway wagons; normally such problems are examined for cases of wagons running at a constant speed. Brake/traction torques affect the speed profile due to the wheel–rail contact characteristics but most of the wagon–track interaction models do not explicitly consider them in simulation. The authors have recently published a model for the dynamics of wagons subject to braking traction torques on a perfect track by explicitly considering the pitch degree of freedom for wheelsets. The model is extended for cases of lateral and vertical track geometry defects and worn railhead and wheel profiles. This paper presents the results of the analyses carried out using the model extended to the dynamics of wagons containing less ideal wheel profiles running on tracks with geometry defects and worn rails.

Segmental torso masses and coronal plane joint torques in the adolescent scoliotic spine

Introduction. Calculating segmental (vertebral level-by-level) torso masses in Adolescent Idiopathic Scoliosis (AIS) patients allows the gravitational loading on the scoliotic spine during relaxed standing to be determined. This study used CT scans of AIS patients to measure segmental torso masses and explores how joint moments in the coronal plane are affected by changes in the position of the intervertebral joint’s axis of rotation; particularly at the apex of a scoliotic major curve. Methods. Existing low dose CT data from the Paediatric Spine Research Group was used to calculate vertebral level-by-level torso masses and joint torques occurring in the spine for a group of 20 female AIS patients (mean age 15.0 ± 2.7 years, mean Cobb angle 53 ± 7.1°). Image processing software, ImageJ (v1.45 NIH USA) was used to threshold the T1 to L5 CT images and calculate the segmental torso volume and mass corresponding to each vertebral level. Body segment masses for the head, neck and arms were taken from published anthropometric data. Intervertebral (IV) joint torques at each vertebral level were found using principles of static equilibrium together with the segmental body mass data. Summing the torque contributions for each level above the required joint, allowed the cumulative joint torque at a particular level to be found. Since there is some uncertainty in the position of the coronal plane Instantaneous Axis of Rotation (IAR) for scoliosis patients, it was assumed the IAR was located in the centre of the IV disc. A sensitivity analysis was performed to see what effect the IAR had on the joint torques by moving it laterally 10mm in both directions. Results. The magnitude of the torso masses from T1-L5 increased inferiorly, with a 150% increase in mean segmental torso mass from 0.6kg at T1 to 1.5kg at L5. The magnitudes of the calculated coronal plane joint torques during relaxed standing were typically 5-7 Nm at the apex of the curve, with the highest apex joint torque of 7Nm being found in patient 13. Shifting the assumed IAR by 10mm towards the convexity of the spine, increased the joint torque at that level by a mean 9.0%, showing that calculated joint torques were moderately sensitive to the assumed IAR location. When the IAR midline position was moved 10mm away from the convexity of the spine, the joint torque reduced by a mean 8.9%. Conclusion. Coronal plane joint torques as high as 7Nm can occur during relaxed standing in scoliosis patients, which may help to explain the mechanics of AIS progression. This study provides new anthropometric reference data on vertebral level-by-level torso mass in AIS patients which will be useful for biomechanical models of scoliosis progression and treatment. However, the CT scans were performed in supine (no gravitational load on spine) and curve magnitudes are known to be smaller than those measured in standing.

Segmental torso masses and joint torques produced by gravity in the adolescent scoliotic spine

Introduction Calculating segmental torso masses in Adolescent Idiopathic Scoliosis (AIS) patients allows the gravitational loading on the scoliotic spine during relaxed standing to be estimated. Methods Low dose CT data was used to calculate vertebral level-by-level torso masses and spinal joint torques for 20 female AIS patients (mean age 15.0 ± 2.7 years, mean Cobb angle 53 ± 7.1°). ImageJ software (v1.45 NIH USA) was used to threshold the T1 to L5 CT images and calculate the segmental torso volume and mass for each vertebral level. Masses for the head, neck and arms were taken from published data.1 Intervertebral joint torques in the coronal and sagittal planes at each vertebral level were found from the position of the centroid of the segment masses relative to the joint centres (assumed to be at the centre of the intervertebral disc). The joint torque at each level was found by summing torque contributions for all segments above that joint. Results Segmental torso mass increased from 0.6kg at T1 to 1.5kg at L5. The coronal plane joint torques due to gravity were 5-7Nm at the apex of the curve; sagittal torques were 3-5.4Nm. Conclusion CT scans were in the supine position and curve magnitudes are known to be smaller than those in standing.2 Hence, this study has shown that gravity produces joint torques potentially of higher than 7Nm in the coronal plane and 5Nm in the sagittal plane during relaxed standing in scoliosis patients. The magnitude of these torques may help to explain the mechanics of AIS progression and the mechanics of bracing. This new data on torso segmental mass in AIS patients will assist biomechanical models of scoliosis.

Segmental torso masses and joint torques produced by gravity in the adolescent scoliotic spine

Introduction Calculating segmental torso masses in Adolescent Idiopathic Scoliosis (AIS) patients allows the gravitational loading on the scoliotic spine during relaxed standing to be estimated. Methods Low dose CT data was used to calculate vertebral level-by-level torso masses and spinal joint torques for 20 female AIS patients (mean age 15.0 ± 2.7 years, mean Cobb angle 53 ± 7.1°). ImageJ software (v1.45 NIH USA) was used to threshold the T1 to L5 CT images and calculate the segmental torso volume and mass for each vertebral level. Masses for the head, neck and arms were taken from published data. Intervertebral joint torques in the coronal and sagittal planes at each vertebral level were found from the position of the centroid of the segment masses relative to the joint centres (assumed to be at the centre of the intervertebral disc. The joint torque at each level was found by summing torque contributions for all segments above that joint. Results Segmental torso mass increased from 0.6kg at T1 to 1.5kg at L5. The coronal plane joint torques due to gravity were 5-7Nm at the apex of the curve; sagittal torques were 3-5.4Nm. Conclusion CT scans were in the supine position and curve magnitudes are known to be smaller than those in standing. Hence, this study has shown that gravity produces joint torques potentially of higher than 7Nm in the coronal plane and 5Nm in the sagittal plane during relaxed standing in scoliosis patients. The magnitude of these torques may help to explain the mechanics of AIS progression and the mechanics of bracing. This new data on torso segmental mass in AIS patients will assist biomechanical models of scoliosis.

Synchronizing and Damping Torques Analysis of Nonlinear Voltage Regulators

This paper makes an attempt to assess the benefits of replacing a conventional generator excitation system (AVR + PSS) with a nonlinear voltage regulator using the concepts of synchronizing and damping torque components in a single machine infinite bus (SMIB) system. In recent years, there has been considerable interest in designing nonlinear excitation controllers, which are expected to give better dynamic performance over a wider range of system and operating conditions. The performance of these controllers is often justified by simulation studies on few test cases which may not adequately represent the diverse operating conditions of a typical power system. The performance of two such nonlinear controllers which are designed based on feedback linearization and include automatic voltage regulation with good dynamic performance have been analyzed using an SMIB model. Linearizing the nonlinear control laws along with the SMIB system equations, a Heffron Phillip's type of a model has been derived. Concepts of synchronizing and damping torque components have been used to show that such controllers can impair the small signal stability under certain operating conditions. This paper shows the possibility of negative damping contribution due to nonlinear voltage regulators and gives a new insight on understanding the physical impact of complex nonlinear control laws on power system dynamics.

Damping and synchronising torques contributed by a voltage regulator to a synchronous generator: a quantitative assessment

In the paper, the total damping and synchronising torques, which determine the dynamic stability of a synchronous generator in a power system, have been traced to their origin. The positive and negative components released or consumed by the voltage regulator, and by the various windings of the machine, have been isolated, with the object of making a quantitative assessment of the effects of various gains and time constants on the dynamic stability of a synchronous machine under different operating conditions. The analysis is based on the properties of quadratic invariance in tensor calculus. An alternative solution by network analysis has also been provided to establish the validity of the tensor approach.

Spinal circuits can accommodate interaction torques during multijoint limb movements

The dynamic interaction of limb segments during movements that involve multiple joints creates torques in one joint due to motion about another. Evidence shows that such interaction torques are taken into account during the planning or control of movement in humans. Two alternative hypotheses could explain the compensation of these dynamic torques. One involves the use of internal models to centrally compute predicted interaction torques and their explicit compensation through anticipatory adjustment of descending motor commands. The alternative, based on the equilibrium-point hypothesis, claims that descending signals can be simple and related to the desired movement kinematics only, while spinal feedback mechanisms are responsible for the appropriate creation and coordination of dynamic muscle forces. Partial supporting evidence exists in each case. However, until now no model has explicitly shown, in the case of the second hypothesis, whether peripheral feedback is really sufficient on its own for coordinating the motion of several joints while at the same time accommodating intersegmental interaction torques. Here we propose a minimal computational model to examine this question. Using a biomechanics simulation of a two-joint arm controlled by spinal neural circuitry, we show for the first time that it is indeed possible for the neuromusculoskeletal system to transform simple descending control signals into muscle activation patterns that accommodate interaction forces depending on their direction and magnitude. This is achieved without the aid of any central predictive signal. Even though the model makes various simplifications and abstractions compared to the complexities involved in the control of human arm movements, the finding lends plausibility to the hypothesis that some multijoint movements can in principle be controlled even in the absence of internal models of intersegmental dynamics or learned compensatory motor signals.

Influence of predominant patterns of coordination on the exploitation of interaction torques in a two-joint rhythmic arm movement

In this study we investigate the coordination between rhythmic flexion-extension (FE) and supination-pronation (SP) movements at the elbow joint-complex, while manipulating the intersegmental dynamics by means of a 2-degrees of freedom (df) robot arm. We hypothesized that constraints imposed by the structure of the neuromuscular-skeletal system would (1) result in predominant pattern(s) of coordination in the absence of interaction torques and (2) influence the capabilities of participants to exploit artificially induced interaction torques. Two experiments were conducted in which different conditions of interaction torques were applied on the SP-axis as a function of FE movements. These conditions promoted different patterns of coordination between the 2-df. Control trials conducted in the absence of interaction torques revealed that both the in-phase (supination synchronized with flexion) and the anti-phase (pronation synchronized with flexion) patterns were spontaneously established by participants. The predominance of these patterns of coordination is explained in terms of the mechanical action of bi-articular muscles acting at the elbow joint-complex, and in terms of the reflexes that link the activity of the muscles involved. Results obtained in the different conditions of interaction torques revealed that those neuromuscular-skeletal constraints either impede or favor the exploitation of intersegmental dynamics depending on the context. Interaction torques were indeed found to be exploited to a greater extent in conditions in which the profiles of interaction torques favored one of the two predominant patterns of coordination (i.e., in-phase or anti-phase) as opposed to other patterns of coordination (e.g., 90 degrees or 270 degrees). Those results are discussed in relation to recent studies reporting exploitation of interaction torques in the context of rhythmic movements.

Efeitos de parâmetros inerciais obtidos através de diferentes procedimentos na determinação de forças e torques articulares resultantes

O objetivo principal deste trabalho é avaliar os efeitos dos parâmetros inerciais (massa, localização do centro de massa e momento de inércia) obtidos através de diferentes procedimentos, no valor calculado para as forças e torques articulares resultantes, determinados através da dinâmica inversa. Para tal, pretende-se: (a) implementar um método para calcular a força nas articulações do tornozelo, joelho e quadril, em atividades motoras humanas consideradas bidimensionais, utilizando a técnica da dinâmica inversa, com os equipamentos disponíveis do Laboratório de Pesquisa do Exercício da Escola de Educação Física da Universidade Federal do Rio Grande do Sul; (b) desenvolver um protocolo de medição dos parâmetros inerciais dos segmentos corporais (massa, localização do centro de massa e momento de inércia) do membro inferior, baseado na pesagem hidrostática, e que apresente informações individualizadas; e (c) operacionalizar um protocolo de medição dos parâmetros inerciais dos segmentos corporais (massa, localização do centro de massa e momento de inércia) do membro inferior baseado no uso da tomografia computadorizada. Diversas situações consideradas bidemensionais foram avaliadas, como caminhada, corrida, agachamento, salto com amortecimento, e salto sem amortecimento. Para avaliar o modelo, os dados provenientes do cálculo foram confrontados com valores de força obtidos a partir da instrumentação de uma prótese de joelho (Cervieri, 2000). Os parâmetros inerciais obtidos através da tomografia computadorizada e da pesagem hidrostática apresentaram diferenças superiores a 100%, quando comparados com os valores fornecidos pelas tabelas antropométricas. Entretanto, no que se refere a fase de contato com o solo dos eventos realizados (instante de maiores forças envolvidas), os diversos métodos de obtenção dos parâmetros inerciais, não apresentam diferenças significativas no valor máximo calculado para as forças internas, através da dinâmica inversa.

Análise estratigráfica dos fluxos gravitacionais da formação maracangalha no campo do jacuípe, bacia do recôncavo, Brasil

O Campo de Jacuípe, localizado no Compartimento Central da Bacia do Recôncavo, é importante produtor de gás na bacia. Os reservatórios são constituídos por corpos arenosos originados por fluxos gravitacionais subaquosos, intercalados a folhelhos e diamictitos da Formação Maracangalha, de idade cretácea inferior (Andar Rio da Serra Superior). Através da descrição sistemática de cerca de 1200 m de testemunhos, foram definidas três fácies deposicionais e seis fácies deformacionais para o intervalo estudado. O agrupamento das fácies em conjuntos que apresentam características estruturais e genéticas semelhantes permitiu a proposição de cinco associações de fácies. A Associação de Fácies I representa principalmente a sedimentação de background lacustre da área. A Associação de Fácies II é interpretada como o registro de deslizamentos (slides) ou porções proximais de escorregamentos (slumps). Os corpos da Associação de Fácies IIIa representam escorregamentos ou porções distais de deslizamentos. A Associação de Fácies IIIb constitui, possivelmente, o registro de fluxos turbidíticos. A Associação de Fácies IV representa um estágio transicional entre escorregamentos altamente móveis e fluxos de detritos (debris flows). O grau deformacional aumenta progressivamente da Associação de Fácies I para a Associação de Fácies IV. Através da análise dos perfis de raios gama (GR) e potencial espontâneo (SP) dos poços, observa-se um padrão granodecrescente geral, da base do intervalo ao datum utilizado nas seções estratigráficas; seguido de um padrão granocrescente geral, do datum para o topo do intervalo. Esta observação permite a interpretação de uma grande seqüência deposicional de terceira ordem (cerca de 7,5 M.a.), com um trato transgressivo na base e um trato de nível de lago alto no topo, separados por uma superfície de máxima inundação, representada pelo datum Os complexos de escorregamentos/deslizamentos, pontuando o trato de nível alto, podem estar relacionados a eventos de rebaixamento de uma ordem superior (de mais alta freqüência), possivelmente ligados a períodos de quiescência, após pulsos tectônicos episódicos. Os mecanismos de disparo dos fluxos gravitacionais foram provavelmente terremotos, causados pela atividade tectônica de movimentação de falhas, inerente ao estágio sin-rift; associados a instabilizações em áreas de frentes deltaicas progradantes a altas taxas de sedimentação, especialmente em locais de forte mudança no gradiente deposicional, como na paleo-linha de charneira, localizada a norte-noroeste do campo. Um importante mecanismo auxiliar pode ter sido a atividade de soerguimento de diápiros de folhelhos. A conectividade vertical e lateral entre os corpos pode ser considerada baixa. As áreas proximais de corpos arenosos de escorregamentos e, especialmente, de corpos de deslizamentos, pelo baixo grau deformacional, devem se constituir nos melhores reservatórios da área.

Simulação física de processos gravitacionais subaquasos: uma aproximação para o entendimento da sedimentação marinha profunda

O tema turbiditos tem causado muita controvérsia nos últimos anos. A nosso ver, isto ocorre principalmente devido à diminuição das pesquisas sobre os mecanismos que envolvem a iniciação, o transporte e a deposição deste tipo de rocha. A proposta deste trabalho é avaliar o potencial da simulação física de correntes de turbidez em prever e explicar feições sedimentares em seus depósitos. Foi escolhido como protótipo um sistema turbidítico antigo situado na margem oriental brasileira. A geometria complexa do protótipo foi simplificada para construção do modelo nas instalações do Pavilhão Fluvial do Instituto de Pesquisas Hidráulicas. Foram desenvolvidos doze ensaios onde as observações realizadas sofisticaram-se a partir dos conhecimentos adquiridos nas etapas anteriores. Como resultado dos experimentos identificaram-se novos aspectos geométricos e dinâmicos das correntes de densidade não-conservativas e suas conseqüências na sedimentação. Constatou-se um caráter ondulatório no fluxo, que teve sua origem associada à geração de ondas internas às correntes associadas ao desprendimento de vórtices a partir da cabeça da corrente e sua propagação ao longo da porção superior da corrente. Esta dinâmica implica mudanças na taxa de sedimentação ou mesmo erosão pela corrente, associadas a variações da amplitude e freqüência daquelas ondas. Na cabeça da corrente, verificou-se uma distribuição homogênea de sedimento em suspensão desde a base até o topo da corrente. No corpo ela se divide em duas camadas, uma basal com maior concentração de sedimentos e outra, superior marcada pela expansão do fluxo. Nas quebras de declive do modelo, que ocorrem no meio do canal e no ponto em que a corrente perde o confinamento, foram observadas acelerações localizadas no fluxo. Dentre os parâmetros analisados nos experimentos, constatou-se que a vazão de alimentação tem grande influência nas características dos depósitos. De um modo geral, um aumento da vazão implica um deslocamento do pico deposicional no sentido da corrente e um aumento no conteúdo de frações mais grossas. Constatou-se, nos sedimentos depositados no canal, uma distribuição seqüenciada de formas de leito, que varia entre ripples de crista reta e ripples lingüóides. Reconheceu-se uma correlação entre a amplitude e o comprimento nestas formas de leito. Identificou-se em todos os casos em que houve o extravasamento da corrente a formação de ripples na lateral do canal com cristas lineares que indicam uma direção do fluxo próxima à que ocorre no canal. Foram desenvolvidos depósitos alongados no sentido do fluxo na área onde a corrente perde o confinamento. Observou-se uma grande similaridade entre os depósitos gerados nos experimentos e aqueles identificados em sistemas turbidíticos atuais e do registro geológico, tanto em afloramentos como em dados de subsuperfície.

Environmental torques acting on a low Earth orbiter cylindrical spacecraft

Classical models of gravity gradient, solar radiation, aerodynamic and magnetic torques acting on a circular cylinder satellite. The magnitude of each such are compared with parameterization in terms of the dimensions of the satellite and its altitude in relation to the Earth's surface. Two different satellite data are considered. The results agree with the classical results and show that for altitude between 0 and 800 km the gravity gradient, aerodynamic and magnetic torques decrease with altitude while the solar radiation torque is almost independent of the altitude. The relative importance of these torques depends on the size, mass, moments of inertia and altitude of the satellite. The results can be useful to propagate the satellite attitude, to satellite missions analysis and to validate the analytical approaches. (C) 2003 COSPAR. Published by Elsevier B.V. Ltd. All rights reserved.

Spin-Stabilized Spacecrafts: Analytical Attitude Propagation Using Magnetic Torques

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Coupling between muscle activities and muscle torques during horizontal-planar arm movements with direction reversal

In this study we investigated the hypothesis that the simple set of rules used to explain the modulation of muscle activities during single-joint movements could also be applied for reversal movements of the shoulder and elbow joints. The muscle torques of both joints were characterized by a triphasic impulse. The first impulse of each joint accelerated the limb to the target and was generated by an initial burst of the muscles activated first (primary mover). The second impulse decelerated the limb to the target, reversed movement direction and accelerated the limb back to the initial position, and was generated by an initial burst of the muscles activated second (secondary movers). A third impulse, in each joint, decelerated the limb to the initial position due to the generation of a second burst of the primary movers. The first burst of the primary mover decreased abruptly, and the latency between the activation of the primary and secondary movers varied in proportion with target distances for the elbow, but not for the shoulder muscles. All impulses and bursts increased with target distances and were well coupled. Therefore, as predicted, the bursts of muscle activities were modulated to generate the appropriate level of muscle torque. (C) 2005 Elsevier Ltd. All rights reserved.