Current kinematics and dynamics of Africa and the East African Rift System

Although the East African Rift System (EARS) is an archetype continental rift, the forces driving its evolution remain debated. Some contend buoyancy forces arising from gravitational potential energy (GPE) gradients within the lithosphere drive rifting. Others argue for a major role of the diverging mantle flow associated with the African Superplume. Here we quantify the forces driving present-day continental rifting in East Africa by (1) solving the depth averaged 3-D force balance equations for 3-D deviatoric stress associated with GPE, (2) inverting for a stress field boundary condition that we interpret as originating from large-scale mantle tractions, (3) calculating dynamic velocities due to lithospheric buoyancy forces, lateral viscosity variations, and velocity boundary conditions, and (4) calculating dynamic velocities that result from the stress response of horizontal mantle tractions acting on a viscous lithosphere in Africa and surroundings. We find deviatoric stress associated with lithospheric GPE gradients are similar to 8-20 MPa in EARS, and the minimum deviatoric stress resulting from basal shear is similar to 1.6 MPa along the EARS. Our dynamic velocity calculations confirm that a force contribution from GPE gradients alone is sufficient to drive Nubia-Somalia divergence and that additional forcing from horizontal mantle tractions overestimates surface kinematics. Stresses from GPE gradients appear sufficient to sustain present-day rifting in East Africa; however, they are lower than the vertically integrated strength of the lithosphere along most of the EARS. This indicates additional processes are required to initiate rupture of continental lithosphere, but once it is initiated, lithospheric buoyancy forces are enough to maintain rifting.

Kinematics and dynamics of Jansen leg mechanism: A bond graph approach

The Jansen mechanism is a one degree-of-freedom, planar, 12-link, leg mechanism that can be used in mobile robotic applications and in gait analysis. This paper presents the kinematics and dynamics of the Jansen leg mechanism. The forward kinematics, accomplished using circle intersection method, determines the trajectories of various points on the mechanism in the chassis (stationary link) reference frame. From the foot point trajectory, the step length is shown to vary linearly while step height varies non-linearly with change in crank radius. A dynamic model for the Jansen leg mechanism is proposed using bond graph approach with modulated multiport transformers. For given ground reaction force pattern and crank angular speed, this model helps determine the motor torque profile as well as the link and joint stresses. The model can therefore be used to rate the actuator torque and in design of the hardware and controller for such a system. The kinematics of the mechanism can also be obtained from this dynamic model. The proposed model is thus a useful tool for analysis and design of systems based on the Jansen leg mechanism. (C) 2015 Elsevier B.V. All rights reserved.

From inverted pendulum to N-link chain: inertial sensors-based assessment of movement kinematics and dynamics for functional evaluation and rehabilitation

Despite several clinical tests that have been developed to qualitatively describe complex motor tasks by functional testing, these methods often depend on clinicians' interpretation, experience and training, which make the assessment results inconsistent, without the precision required to objectively assess the effect of the rehabilitative intervention. A more detailed characterization is required to fully capture the various aspects of motor control and performance during complex movements of lower and upper limbs. The need for cost-effective and clinically applicable instrumented tests would enable quantitative assessment of performance on a subject-specific basis, overcoming the limitations due to the lack of objectiveness related to individual judgment, and possibly disclosing subtle alterations that are not clearly visible to the observer. Postural motion measurements at additional locations, such as lower and upper limbs and trunk, may be necessary in order to obtain information about the inter-segmental coordination during different functional tests involved in clinical practice. With these considerations in mind, this Thesis aims: i) to suggest a novel quantitative assessment tool for the kinematics and dynamics evaluation of a multi-link kinematic chain during several functional motor tasks (i.e. squat, sit-to-stand, postural sway), using one single-axis accelerometer per segment, ii) to present a novel quantitative technique for the upper limb joint kinematics estimation, considering a 3-link kinematic chain during the Fugl-Meyer Motor Assessment and using one inertial measurement unit per segment. The suggested methods could have several positive feedbacks from clinical practice. The use of objective biomechanical measurements, provided by inertial sensor-based technique, may help clinicians to: i) objectively track changes in motor ability, ii) provide timely feedback about the effectiveness of administered rehabilitation interventions, iii) enable intervention strategies to be modified or changed if found to be ineffective, and iv) speed up the experimental sessions when several subjects are asked to perform different functional tests.

Scaling and non-scaling of muscle activity, kinematics, and dynamics in sit-ups with different degrees of difficulty

The purpose of this study was to investigate how the CNS adjusts motor patterns for variants of a complex axial movement-the situp. Adjustments were induced by changing the support surface contact and mass distribution of the body. Healthy adults performed straight-legged sit-ups, 3 s in duration, with support added to or removed from the lumbar trunk, or with mass added to the head or to the legs. Each of these interventions either increased or decreased the difficulty of the task. The study addressed the extent to which changes in sit-up difficulty are compensated by scaling of muscle activity, kinematics, and dynamics versus the extent to which they are compensated by changing discretely the motor pattern. The analysis of muscle activity, kinematics, and dynamics focused on the first 30-40% of the sit-up-the trunk flexion phase-since this is the most critical part of the movement. Our results demonstrate that, in some respects, sit-up kinematics and dynamics scaled with difficulty, but in other respects, they did not. Muscle activity also scaled, in many respects, but in more difficult sit-ups, abdominal flexor activity decreased instead of increased. Non-scaling changes in these parameters suggest that complex movements, such as the sit-up, may require discrete changes in motor pattern in order to deal with large loads, which challenge the available leverage. (C) 2005 Elsevier Ltd. All rights reserved.

The globular cluster kinematics and galaxy dark matter content of NGC 3923

This paper presents further results from our spectroscopic study of the globular cluster (GC) system of the group elliptical NGC 3923. From observations made with the GMOS instrument on the Gemini South Telescope, an additional 50 GC and ultra-compact dwarf (UCD) candidates have been spectroscopically confirmed as members of the NGC 3923 system. When the recessional velocities of these GCs are combined with the 29 GC velocities reported previously, a total sample of 79 GC/UCD velocities is produced. This sample extends to over 6 arcmin (>6 R-e similar to 30 kpc) from the centre of NGC 3923 and is used to study the dynamics of the GC system and the dark matter content of NGC 3923. It is found that the GC system of NGC 3923 displays no appreciable rotation, and that the projected velocity dispersion is constant with radius within the uncertainties. The velocity dispersion profiles of the integrated light and GC system of NGC 3923 are indistinguishable over the region in which they overlap. We find some evidence that the diffuse light and GCs of NGC 3923 have radially biased orbits within similar to 130 arcsec. The application of axisymmetric orbit-based models to the GC and integrated light velocity dispersion profiles demonstrates that a significant increase in the mass-to-light ratio (from M/L-V = 8 to 26) at large galactocentric radii is required to explain this observation. We therefore confirm the presence of a dark matter halo in NGC 3923. We find that dark matter comprises 17.5(-4.5)(+7.3) per cent of the mass within 1 R-e, 41.2(-10.6)(+18.2) per cent within 2 R-e and 75.6(-16.8)(+15.4) per cent within the radius of our last kinematic tracer at 6.9 R-e. The total dynamical mass within this radius is found to be 1.5(-0.25)(+0.4) x 10(12) M-circle dot. In common with other studies of large ellipticals, we find that our derived dynamical mass profile is consistently higher than that derived by X-ray observations, by a factor of around 2.

Homogeneous metallicities and radial velocities for Galactic globular clusters

Well determined radial velocities and abundances are essential for analyzing the properties of the globular cluster system of the Milky Way. However more than 50% of these clusters have no spectroscopic measure of their metallicity. In this context, this work provides new radial velocities and abundances for twenty Milky Way globular clusters which lack or have poorly known values for these quantities. The radial velocities and abundances are derived from spectra obtained at the Ca II triplet using the FORS2 imager and spectrograph at the VLT, calibrated with spectra of red giants in a number of clusters with well determined abundances. For about half of the clusters in our sample we present significant revisions of the existing velocities or abundances, or both. We also confirm the existence of a sizable abundance spread in the globular cluster M 54, which lies at the center of the Sagittarius dwarf galaxy. In addition evidence is provided for the existence of a small intrinsic internal abundance spread (sigma[Fe/H](int) approximate to 0.11-0.14 dex, similar to that of M 54) in the luminous distant globular cluster NGC 5824. This cluster thus joins the small number of Galactic globular clusters known to possess internal metallicity ([Fe/H]) spreads.

A Galactic ring of minimum stellar density near the solar orbit radius

We analyse the secular effects of a long-lived Galactic spiral structure on the stellar orbits with mean radii close to the corotation resonance. By test-particle simulations and different spiral potential models with parameters constrained on observations, we verified the formation of a minimum with amplitude ∼30–40 per cent of the background disc stellar density at corotation. Such a minimum is formed by the secular angular momentum transfer between stars and the spiral density wave on both sides of corotation. We demonstrate that the secular loss (gain) of angular momentum and decrease (increase) of mean orbital radius of stars just inside (outside) corotation can counterbalance the opposite trend of exchange of angular momentum shown by stars orbiting the librational points L4/5 at the corotation circle. Such secular processes actually allow steady spiral waves to promote radial migration across corotation. We propose some pieces of observational evidence for the minimum stellar density in the Galactic disc, such as its direct relation to the minimum in the observed rotation curve of the Galaxy at the radius r ∼ 9 kpc (for R0 = 7.5 kpc), as well as its association with a minimum in the distribution of Galactic radii of a sample of open clusters older than 1Gyr. The closeness of the solar orbit adius to the corotation resonance implies that the solar orbit lies inside a ring of minimum surface density (stellar + gas). This also implies a correction to larger values for the estimated total mass of the Galactic disc, and consequently, a greater contribution of the disc componente to the inner rotation curve of the Galaxy.

A Stellar Census of the Tucana-Horologium Moving Group

We report the selection and spectroscopic confirmation of 129 new late-type (SpT = K3-M6) members of the Tucana-Horologium moving group, a nearby (d similar to 40 pc), young (tau similar to 40 Myr) population of comoving stars. We also report observations for 13 of the 17 known Tuc-Hor members in this spectral type range, and that 62 additional candidates are likely to be unassociated field stars; the confirmation frequency for new candidates is therefore 129/191 = 67%. We have used radial velocities, Ha emission, and Li-6708 absorption to distinguish between contaminants and bona fide members. Our expanded census of Tuc-Hor increases the known population by a factor of similar to 3 in total and by a factor of similar to 8 for members with SpT >= K3, but even so, the K-M dwarf population of Tuc-Hor is still markedly incomplete. Our expanded census allows for a much more detailed study of Tuc-Hor than was previously feasible. The spatial distribution of members appears to trace a two-dimensional sheet, with a broad distribution in X and Y, but a very narrow distribution (+/- 5 pc) in Z. The corresponding velocity distribution is very small, with a scatter of +/- 1.1 km s(-1) about the mean UVW velocity for stars spanning the entire 50 pc extent of Tuc-Hor. We also show that the isochronal age (tau similar to 20-30 Myr) and the lithium depletion boundary age (tau similar to 40 Myr) disagree, following the trend in other pre-main-sequence populations for isochrones to yield systematically younger ages. The H alpha emission line strength follows a trend of increasing equivalent width with later spectral type, as is seen for young clusters. We find that moving group members have been depleted of measurable lithium for spectral types of K7.0-M4.5. None of our targets have significant infrared excesses in the WISE W3 band, yielding an upper limit on warm debris disks of F < 0.7%. Finally, our purely kinematic and color-magnitude selection procedure allows us to test the efficiency and completeness for activity-based selection of young stars. We find that 60% of K-M dwarfs in Tuc-Hor do not have ROSAT counterparts and would have been omitted in X-ray-selected samples. In contrast, GALEX UV-selected samples using a previously suggested criterion for youth achieve completeness of 77% and purity of 78%, and we suggest new SpT-dependent selection criteria that will yield > 95% completeness for tau similar to 40 Myr populations with GALEX data available.

Global properties of `ordinary` early-type galaxies: photometry and spectroscopy of stars and globular clusters in NGC 4494

We present a comprehensive analysis of the spatial, kinematic and chemical properties of stars and globular clusters (GCs) in the `ordinary` elliptical galaxy NGC 4494 using data from the Keck and Subaru telescopes. We derive galaxy surface brightness and colour profiles out to large galactocentric radii. We compare the latter to metallicities derived using the near-infrared Calcium Triplet. We obtain stellar kinematics out to similar to 3.5 effective radii. The latter appear flattened or elongated beyond similar to 1.8 effective radii in contrast to the relatively round photometric isophotes. In fact, NGC 4494 may be a flattened galaxy, possibly even an S0, seen at an inclination of similar to 45 degrees. We publish a catalogue of 431 GC candidates brighter than i(0) = 24 based on the photometry, of which 109 are confirmed spectroscopically and 54 have measured spectroscopic metallicities. We also report the discovery of three spectroscopically confirmed ultra-compact dwarfs around NGC 4494 with measured metallicities of -0.4 less than or similar to [Fe/H] less than or similar to -0.3. Based on their properties, we conclude that they are simply bright GCs. The metal-poor GCs are found to be rotating with similar amplitude as the galaxy stars, while the metal-rich GCs show marginal rotation. We supplement our analysis with available literature data and results. Using model predictions of galaxy formation, and a suite of merger simulations, we find that many of the observational properties of NGC 4494 may be explained by formation in a relatively recent gas-rich major merger. Complete studies of individual galaxies incorporating a range of observational avenues and methods such as the one presented here will be an invaluable tool for constraining the fine details of galaxy formation models, especially at large galactocentric radii.

Kinematics, substructure and luminosity-weighted dynamics of six nearby galaxy groups

We have redefined group membership of six southern galaxy groups in the local universe (mean cz < 2000 km s(-1)) based on new redshift measurements from our recently acquired Anglo-Australian Telescope 2dF spectra. For each group, we investigate member galaxy kinematics, substructure, luminosity functions and luminosity-weighted dynamics. Our calculations confirm that the group sizes, virial masses and luminosities cover the range expected for galaxy groups, except that the luminosity of NGC 4038 is boosted by the central starburst merger pair. We find that a combination of kinematical, substructural and dynamical techniques can reliably distinguish loose, unvirialized groups from compact, dynamically relaxed groups. Applying these techniques, we find that Dorado, NGC 4038 and NGC 4697 are unvirialized, whereas NGC 681, NGC 1400 and NGC 5084 are dynamically relaxed.

Flux Transport Dynamos: From Kinematics to Dynamics

Over the past several decades, Flux-Transport Dynamo (FTD) models have emerged as a popular paradigm for explaining the cyclic nature of solar magnetic activity. Their defining characteristic is the key role played by the mean meridional circulation in transporting magnetic flux and thereby regulating the cycle period. Most FTD models also incorporate the so-called Babcock-Leighton (BL) mechanism in which the mean poloidal field is produced by the emergence and subsequent dispersal of bipolar active regions. This feature is well grounded in solar observations and provides a means for assimilating observed surface flows and fields into the models in order to forecast future solar activity, to identify model biases, and to clarify the underlying physical processes. Furthermore, interpreting historical sunspot records within the context of FTD models can potentially provide insight into why cycle features such as amplitude and duration vary and what causes extreme events such as Grand Minima. Though they are generally robust in a modeling sense and make good contact with observed cycle features, FTD models rely on input physics that is only partially constrained by observation and that neglects the subtleties of convective transport, convective field generation, and nonlinear feedbacks. Here we review the formulation and application of FTD models and assess our current understanding of the input physics based largely on complementary 3D MHD simulations of solar convection, dynamo action, and flux emergence.

Measurement of the epicycle frequency in the Galactic disc and initial velocities of open clusters

A new method to measure the epicycle frequency kappa in the Galactic disc is presented. We make use of the large data base on open clusters completed by our group to derive the observed velocity vector (amplitude and direction) of the clusters in the Galactic plane. In the epicycle approximation, this velocity is equal to the circular velocity given by the rotation curve, plus a residual or perturbation velocity, of which the direction rotates as a function of time with the frequency kappa. Due to the non-random direction of the perturbation velocity at the birth time of the clusters, a plot of the present-day direction angle of this velocity as a function of the age of the clusters reveals systematic trends from which the epicycle frequency can be obtained. Our analysis considers that the Galactic potential is mainly axis-symmetric, or in other words, that the effect of the spiral arms on the Galactic orbits is small; in this sense, our results do not depend on any specific model of the spiral structure. The values of kappa that we obtain provide constraints on the rotation velocity of the in particular, V(0) is found to be 230 +/- 15 km s(-1) even if the scale (R(0) = 7.5 kpc) of the Galaxy is adopted. The measured kappa at the solar radius is 43 +/- 5 km s(-1) kpc(-1). The distribution of initial velocities of open clusters is discussed.

HI aperture synthesis and optical observations of the pair of galaxies NGC 6907 and 6908

NGC 6908, an S0 galaxy situated in the direction of NGC 6907, was only recently recognized as a distinct galaxy, instead of only a part of NGC 6907. We present 21-cm radio synthesis observations obtained with the Giant Metrewave Radio Telescope (GMRT) and optical images and spectroscopy obtained with the Gemini-North telescope of this pair of interacting galaxies. From the radio observations, we obtained the velocity field and the H I column density map of the whole region containing the NGC 6907/8 pair, and by means of the Gemini multi-object spectroscopy we obtained high-quality photometric images and 5 angstrom resolution spectra sampling the two galaxies. By comparing the rotation curve of NGC 6907 obtained from the two opposite sides around the main kinematic axis, we were able to distinguish the normal rotational velocity field from the velocity components produced by the interaction between the two galaxies. Taking into account the rotational velocity of NGC 6907 and the velocity derived from the absorption lines for NGC 6908, we verified that the relative velocity between these systems is lower than 60 km s(-1). The emission lines observed in the direction of NGC 6908, not typical of S0 galaxies, have the same velocity expected for the NGC 6907 rotation curve. Some emission lines are superimposed on a broader absorption profile, which suggests that they were not formed in NGC 6908. Finally, the H I profile exhibits details of the interaction, showing three components: one for NGC 6908, another for the excited gas in the NGC 6907 disc and a last one for the gas with higher relative velocities left behind NGC 6908 by dynamical friction, used to estimate the time when the interaction started in (3.4 +/- 0.6) x 10(7) yr ago.

The spiral structure of the Galaxy revealed by CS sources and evidence for the 4:1 resonance

We present a map of the spiral structure of the Galaxy, as traced by molecular carbon monosulphide (CS) emission associated with IRAS sources which are believed to be compact H II regions. The CS line velocities are used to determine the kinematic distances of the sources in order to investigate their distribution in the galactic plane. This allows us to use 870 objects to trace the arms, a number larger than that of previous studies based on classical H II regions. The distance ambiguity of the kinematic distances, when it exists, is solved by different procedures, including the latitude distribution and an analysis of the longitude-velocity diagram. The study of the spiral structure is complemented with other tracers: open clusters, Cepheids, methanol masers and H II regions. The well-defined spiral arms are seen to be confined inside the corotation radius, as is often the case in spiral galaxies. We identify a square-shaped sub-structure in the CS map with that predicted by stellar orbits at the 4:1 resonance (four epicycle oscillations in one turn around the galactic centre). The sub-structure is found at the expected radius, based on the known pattern rotation speed and epicycle frequency curve. An inner arm presents an end with strong inwards curvature and intense star formation that we tentatively associate with the region where this arm surrounds the extremity of the bar, as seen in many barred galaxies. Finally, a new arm with concave curvature is found in the Sagitta to Cepheus region of the sky. The observed arms are interpreted in terms of perturbations similar to grooves in the gravitational potential of the disc, produced by crowding of stellar orbits.