The network of Himalayan roadways and highways connects some remote regions of valleys or hill slopes,which is vital for India’s socio-economic growth.Due to natural and artificial factors,frequency of slope instabil...The network of Himalayan roadways and highways connects some remote regions of valleys or hill slopes,which is vital for India’s socio-economic growth.Due to natural and artificial factors,frequency of slope instabilities along the networks has been increasing over last few decades.Assessment of stability of natural and artificial slopes due to construction of these connecting road networks is significant in safely executing these roads throughout the year.Several rock mass classification methods are generally used to assess the strength and deformability of rock mass.This study assesses slope stability along the NH-1A of Ramban district of North Western Himalayas.Various structurally and non-structurally controlled rock mass classification systems have been applied to assess the stability conditions of 14 slopes.For evaluating the stability of these slopes,kinematic analysis was performed along with geological strength index(GSI),rock mass rating(RMR),continuous slope mass rating(CoSMR),slope mass rating(SMR),and Q-slope in the present study.The SMR gives three slopes as completely unstable while CoSMR suggests four slopes as completely unstable.The stability of all slopes was also analyzed using a design chart under dynamic and static conditions by slope stability rating(SSR)for the factor of safety(FoS)of 1.2 and 1 respectively.Q-slope with probability of failure(PoF)1%gives two slopes as stable slopes.Stable slope angle has been determined based on the Q-slope safe angle equation and SSR design chart based on the FoS.The value ranges given by different empirical classifications were RMR(37-74),GSI(27.3-58.5),SMR(11-59),and CoSMR(3.39-74.56).Good relationship was found among RMR&SSR and RMR&GSI with correlation coefficient(R 2)value of 0.815 and 0.6866,respectively.Lastly,a comparative stability of all these slopes based on the above classification has been performed to identify the most critical slope along this road.展开更多
Three cases of microphysical characteristics and kinematic structures in the negative temperature region of summer mesoscale cloud systems over the eastern Tibetan Plateau(TP)were investigated using X-band dual-polari...Three cases of microphysical characteristics and kinematic structures in the negative temperature region of summer mesoscale cloud systems over the eastern Tibetan Plateau(TP)were investigated using X-band dual-polarization radar.The time-height series of radar physical variables and mesoscale horizontal divergence δderived by quasi-vertical profiles(QVPs)indicated that the dendritic growth layer(DGL,-20°C to-10°C)was ubiquitous,with large-value zones of K_(DP)(specific differential phase),Z_(DR)(differential reflectivity),or both,and corresponded to various dynamic fields(ascent or descent).Ascents in the DGL of cloud systems with vigorous vertical development were coincident with large-value zones of Z_(DR),signifying ice crystals with a large axis ratio,but with no obvious large values of K_(DP),which differs from previous findings.It is speculated that ascent in the DGL promoted ice crystals to undergo further growth before sinking.If there was descent in the DGL,a high echo top corresponded to large values of K_(DP),denoting a large number concentration of ice crystals;but with the echo top descending,small values of K_(DP) formed.This is similar to previous results and reveals that a high echo top is conducive to the generation of ice crystals.When ice particles fall to low levels(-10℃ to 0℃),they grow through riming,aggregation,or deposition,and may not be related to the kinematic structure.It is important to note that this study was only based on a limited number of cases and that further research is therefore needed.展开更多
The Sonid Zuoqi ductile detachment zone is located at the southeastern margin of the Central Asian orogenic belt(CAOB),striking EW and dipping to the S.The major rock type of the Sonid Zuoqi ductile detachment zone is...The Sonid Zuoqi ductile detachment zone is located at the southeastern margin of the Central Asian orogenic belt(CAOB),striking EW and dipping to the S.The major rock type of the Sonid Zuoqi ductile detachment zone is mylonite derived from granite.The sequence of mylonite features is:(1)S and C foliations of mylonite,and(2)extensional crenulation cleavage(ecc)or C′and the kinematic vorticity(Wk)value changed from 0.70 to 0.95 and from 0.37 to 0.69,respectively;the strain type of the mylonites within the Sonid Zuoqi ductile detachment zone is compressional to planar strain.The strong deformation mylonite and Halatu plutons yielded a zircon U-Pb age of 244 Ma and a zircon(U-Th)/He age of 214 Ma,respectively.Based on the strain and kinematic vorticity analysis,together with the zircon U-Pb and zircon(U-Th)/He ages and the regional tectonic background,the study area experienced three stage evolution:tangential simpleshear(244 Ma),simple-shear-dominated general shear represented by upper crustal extension(224 Ma)and pure-shear-dominated general shear represented by the Halatu pluton doming(214 Ma),which constrained the early Mesozoic NE-SW crustal extension at the southeastern margin of the CAOB.This NE-SW extension probably originated from the postorogenic extensional collapse of the CAOB,subsequent exhumation being controlled by the far afield effects of the closure of the Mongol-Okhotsk belt.展开更多
This paper presents a systematic methodology for analyzing and optimizing an innovative antenna mount designed for phased array antennas, implemented through a novel 2-PSS&1-RR circular-rail parallel mechanism. In...This paper presents a systematic methodology for analyzing and optimizing an innovative antenna mount designed for phased array antennas, implemented through a novel 2-PSS&1-RR circular-rail parallel mechanism. Initially, a comparative motion analysis between the 3D model of the mount and its full-scale prototype is conducted to validate effectiveness. Given the inherent complexity, a kinematic mapping model is established between the mount and the crank-slider linkage, providing a guiding framework for subsequent analysis and optimization. Guided by this model, feasible inverse and forward solutions are derived, enabling precise identification of stiffness singularities. The concept of singularity distance is thus introduced to reflect the structural stiffness of the mount. Subsequently, also guided by the mapping model, a heuristic algorithm incorporating two backtracking procedures is developed to reduce the mount's mass. Additionally, a parametric finite-element model is employed to explore the relation between singularity distance and structural stiffness. The results indicate a significant reduction(about 16%) in the antenna mount's mass through the developed algorithm, while highlighting the singularity distance as an effective stiffness indicator for this type of antenna mount.展开更多
The kinematic equivalent model of an existing ankle-rehabilitation robot is inconsistent with the anatomical structure of the human ankle,which influences the rehabilitation effect.Therefore,this study equates the hum...The kinematic equivalent model of an existing ankle-rehabilitation robot is inconsistent with the anatomical structure of the human ankle,which influences the rehabilitation effect.Therefore,this study equates the human ankle to the UR model and proposes a novel three degrees of freedom(3-DOF)generalized spherical parallel mechanism for ankle rehabilitation.The parallel mechanism has two spherical centers corresponding to the rotation centers of tibiotalar and subtalar joints.Using screw theory,the mobility of the parallel mechanism,which meets the requirements of the human ankle,is analyzed.The inverse kinematics are presented,and singularities are identified based on the Jacobian matrix.The workspaces of the parallel mechanism are obtained through the search method and compared with the motion range of the human ankle,which shows that the parallel mechanism can meet the motion demand of ankle rehabilitation.Additionally,based on the motion-force transmissibility,the performance atlases are plotted in the parameter optimal design space,and the optimum parameter is obtained according to the demands of practical applications.The results show that the parallel mechanism can meet the motion requirements of ankle rehabilitation and has excellent kinematic performance in its rehabilitation range,which provides a theoretical basis for the prototype design and experimental verification.展开更多
Planar sliding is one of the frequently observed types of failure in rock slopes.Kinematic analysis is a classic and widely used method to examine the potential failure modes in rock masses.The accuracy of planar slid...Planar sliding is one of the frequently observed types of failure in rock slopes.Kinematic analysis is a classic and widely used method to examine the potential failure modes in rock masses.The accuracy of planar sliding kinematic analysis is significantly influenced by the value assigned to the lateral limit angleγlim.However,the assignment ofγlim is currently used generally based on an empirical criterion.This study aims to propose an approach for determining the value ofγlim in deterministic and probabilistic kinematic planar sliding analysis.A new perspective is presented to reveal thatγlim essentially influences the probability of forming a potential planar sliding block.The procedure to calculate this probability is introduced using the block theory method.It is found that the probability is correlated with the number of discontinuity sets presented in rock masses.Thus,different values ofγlim for rock masses with different sets of discontinuities are recommended in both probabilistic and deterministic planar sliding kinematic analyses;whereas a fixed value ofγlim is commonly assigned to different types of rock masses in traditional method.Finally,an engineering case was used to compare the proposed and traditional kinematic analysis methods.The error rates of the traditional method vary from 45%to 119%,while that of the proposed method ranges between 1%and 17%.Therefore,it is likely that the proposed method is superior to the traditional one.展开更多
Rapid acquisition of the kinematic deformation field and seismic intensity distribution of large earthquakes is crucial for postseismic emergency rescue,disaster assessment,and future seismic risk research.The advance...Rapid acquisition of the kinematic deformation field and seismic intensity distribution of large earthquakes is crucial for postseismic emergency rescue,disaster assessment,and future seismic risk research.The advancement of GNSS observation and data processing makes it play an important role in this field,especially the high-frequency GNSS.We used the differential positioning method to calculate the 1 HZ GNSS data from 98 sites within 1000 km of the M_(S)7.4 Maduo earthquake epicenter.The kinematic deformation field and the distribution of the seismic intensity by using the peak ground velocity derived from displacement waveforms were obtained.The results show that:1)Horizontal coseismic response deformation levels ranging from 25 mm to 301 mm can be observed within a 1000 km radius from the epicenter.Coseismic response deformation on the east and west sides shows bilateral asymmetry,which markedly differs from the symmetry presented by surface rupture.2)The seismic intensity obtained through high-frequency GNSS and field investigations exhibits good consistency of the scope and orientation in the high seismic intensity area,although the former is generally slightly smaller than the latter.3)There may exist obstacles on the eastern side of the seismogenic fault.The Maduo earthquake induced a certain tectonic stress loading effect on the western Kunlun Pass-Jiangcuo fault(KPJF)and Maqin-Maqu segment,resulting in higher seismic risk in the future.展开更多
This study presents a kinematic calibration method for exoskeletal inertial motion capture (EI-MoCap) system with considering the random colored noise such as gyroscopic drift.In this method, the geometric parameters ...This study presents a kinematic calibration method for exoskeletal inertial motion capture (EI-MoCap) system with considering the random colored noise such as gyroscopic drift.In this method, the geometric parameters are calibrated by the traditional calibration method at first. Then, in order to calibrate the parameters affected by the random colored noise, the expectation maximization (EM) algorithm is introduced. Through the use of geometric parameters calibrated by the traditional calibration method, the iterations under the EM framework are decreased and the efficiency of the proposed method on embedded system is improved. The performance of the proposed kinematic calibration method is compared to the traditional calibration method. Furthermore, the feasibility of the proposed method is verified on the EI-MoCap system. The simulation and experiment demonstrate that the motion capture precision is significantly improved by 16.79%and 7.16%respectively in comparison to the traditional calibration method.展开更多
Background:Foot kinematics,such as excessive eversion and malalignment of the hindfoot,are believed to be associated with running-related injuries.The maj ority of studies to date show that different foot strike patte...Background:Foot kinematics,such as excessive eversion and malalignment of the hindfoot,are believed to be associated with running-related injuries.The maj ority of studies to date show that different foot strike patterns influence these specific foot and ankle kinematics.However,technical deficiencies in traditional motion capture approaches limit knowledge of in vivo joint kinematics with respect to rearfoot and forefoot strike patterns(RFS and FFS,respectively).This study uses a high-speed dual fluoroscopic imaging system(DFIS)to determine the effects of different foot strike patterns on 3D in vivo tibiotalar and subtalar joints kinematics.Methods:Fifteen healthy male recreational runners underwent foot computed tomography scanning for the construction of 3-dimensional models.A high-speed DFIS(100 Hz)was used to collect 6 degrees of freedom kinematics for participants’tibiotalar and subtalar joints when they adopted RFS and FFS in barefoot condition.Results:Compared with RFS,FFS exhibited greater internal rotation at 0%-20%of the stance phase in the tibiotalar joint.The peak internal rotation angle of the tibiotalar joint under FFS was greater than under RFS(p<0.001,Cohen’s d=0.92).RFS showed more dorsiflexion at 0%-20%of the stance phase in the tibiotalar joint than FFS.RFS also presented a larger anterior translation(p<0.001,Cohen’s d=1.28)in the subtalar joint at i nitial contact than FFS.Conclusion:Running with acute barefoot FFS increases the internal rotation of the tibiotalar joint in the early stance.The use of high-speed DFIS to quantify the movement of the tibiotalar and subtalar joint was critical to revealing the effects of RF S and FFS during running.展开更多
Mandibular advancement devices(MADs)are widely used treatments for obstructive sleep apnea.MADs function by advancing the lower jaw to open the upper airway.To increase patient comfort,most patients allow the mouth to...Mandibular advancement devices(MADs)are widely used treatments for obstructive sleep apnea.MADs function by advancing the lower jaw to open the upper airway.To increase patient comfort,most patients allow the mouth to be opened.However,not all systems maintain the lower jaw in a forward position during mouth opening,which results in the production of a retrusion that favors the collapse of the upper airway.Furthermore,the kinematic behavior of the mechanism formed by the mandible-device assembly depends on jaw morphology.This means that,during mouth opening,some devices cause lower jaw protrusion in some patients,but cause its retraction in others.In this study,we report the behavior of well-known devices currently on themarket.To do so,we developed a kinematic model of the lower jawdevice assembly.Thismodelwas validated for all devices analyzed using a high-resolution camera system.Our results show that some of the devices analyzed here did not produce the correct behavior during patient mouth opening.展开更多
BACKGROUND Advances in implant material and design have allowed for improvements in total knee arthroplasty(TKA)outcomes.A cruciate retaining(CR)TKA provides the least constraint of TKA designs by preserving the nativ...BACKGROUND Advances in implant material and design have allowed for improvements in total knee arthroplasty(TKA)outcomes.A cruciate retaining(CR)TKA provides the least constraint of TKA designs by preserving the native posterior cruciate ligament.Limited research exists that has examined clinical outcomes or patient reported outcome measures(PROMs)of a large cohort of patients undergoing a CR TKA utilizing a kinematically designed implant.It was hypothesized that the studied CR Knee System would demonstrate favorable outcomes and a clinically significant improvement in pain and functional scores.AIM To assess both short-term and mid-term clinical outcomes and PROMs of a novel CR TKA design.METHODS A retrospective,multi-surgeon study identified 255 knees undergoing a TKA utilizing a kinematically designed CR Knee System(JOURNEY™II CR;Smith and Nephew,Inc.,Memphis,TN)at an urban,academic medical institution between March 2015 and July 2021 with a minimum of two-years of clinical follow-up with an orthopedic surgeon.Patient demographics,surgical information,clinical outcomes,and PROMs data were collected via query of electronic medical records.The PROMs collected in the present study included the Knee Injury and Osteoarthritis Outcome Score for Joint Replacement(KOOS JR)and Patient-Reported Outcomes Measurement Information System(PROMIS■)scores.The significance of improvements in mean PROM scores from preoperative scores to scores collected at six months and two-years postoperatively was analyzed using Independent Samples t-tests.RESULTS Of the 255 patients,65.5%were female,43.8%were White,and patients had an average age of 60.6 years.Primary osteoarthritis(96.9%)was the most common primary diagnosis.The mean surgical time was 105.3 minutes and mean length of stay was 2.1 d with most patients discharged home(92.5%).There were 18 emergency department(ED)visits within 90 d of surgery resulting in a 90 d ED visit rate of 7.1%,including a 2.4%orthopedic-related ED visit rate and a 4.7%non-orthopedic-related ED visit rate.There were three(1.2%)hospital readmissions within 90 d postoperatively.With a mean time to latest follow-up of 3.3 years,four patients(1.6%)required revision,two for arthrofibrosis,one for aseptic femoral loosening,and one for peri-prosthetic joint infection.There were significant improvements in KOOS JR,PROMIS Pain Intensity,PROMIS Pain Interference,PROMIS Mobility,and PROMIS Physical Health from preoperative scores to six month and two-year postoperative scores.CONCLUSION The evaluated implant is an effective,novel design offering excellent outcomes and low complication rates.At a mean follow up of 3.3 years,four patients required revisions,three aseptic and one septic,resulting in an overall implant survival rate of 98.4%and an aseptic survival rate of 98.8%.The results of our study demonstrate the utility of this kinematically designed implant in the setting of primary TKA.展开更多
The ^(12)C+^(12)C fusion is one of the most important reactions in modern nuclear astrophysics.The trend and magnitude of the reaction rate within the Gamow window strongly influence various astrophysical processes.Ho...The ^(12)C+^(12)C fusion is one of the most important reactions in modern nuclear astrophysics.The trend and magnitude of the reaction rate within the Gamow window strongly influence various astrophysical processes.However,direct measurement of this reaction is extremely difficult,which makes it necessary to develop indirect methods.In this study,the ^(23)Na+p reaction system was used to study the compound nucleus ^(24)Mg.We employed a thick-target inverse kinematics method combined with theγ-charged-particle coincidence technique to measure the proton andα exit channels of ^(24)Mg.Technical details of the ^(23)Na+p thick-target inverse kinematics experiment and analysis are presented herein.展开更多
Objective: To explore gait kinematics analysis and evaluate the surgical efficacy of total knee arthroplasty (TKA), as well as its guiding significance for postoperative rehabilitation. Method: Fifty patients admitted...Objective: To explore gait kinematics analysis and evaluate the surgical efficacy of total knee arthroplasty (TKA), as well as its guiding significance for postoperative rehabilitation. Method: Fifty patients admitted to TKA treatment for knee osteoarthritis from December 2022 to July 2023 were included, which were divided into an intervention group (gait kinematics analysis group, n = 25) and a control group (conventional rehabilitation program group, n = 25). All patients underwent HSS score and KSS score before surgery (T0), 1 month after surgery (T1), 3 months after surgery (T2), and 6 months after surgery (T3). The intervention group underwent gait kinematics analysis at 1 month after surgery (T1) and 3 months after surgery (T2). Two groups measured the hip knee ankle angle (HKA), distal femoral lateral angle (LDFA), and proximal tibial medial angle (MPTA) on knee joint radiographs before and after surgery. Results: There was no significant difference in general information, preoperative imaging parameters, and functional scores between the two groups of patients. There was no significant difference in functional scores and postoperative prosthesis alignment between the two groups of patients in the first month after surgery. The intervention group showed a significant decrease in gait kinematic scores in the first month, with hip joint scores being particularly prominent (P 0.05). Conclusion: Gait kinematic analysis is helpful in evaluating the postoperative efficacy of TKA and can guide early and rapid recovery after TKA.展开更多
NGLY1 Deficiency is an ultra-rare autosomal recessively inherited disorder. Characteristic symptoms include among others, developmental delays, movement disorders, liver function abnormalities, seizures, and problems ...NGLY1 Deficiency is an ultra-rare autosomal recessively inherited disorder. Characteristic symptoms include among others, developmental delays, movement disorders, liver function abnormalities, seizures, and problems with tear formation. Movements are hyperkinetic and may include dysmetric, choreo-athetoid, myoclonic and dystonic movement elements. To date, there have been no quantitative reports describing arm movements of individuals with NGLY1 Deficiency. This report provides quantitative information about a series of arm movements performed by an individual with NGLY1 Deficiency and an aged-matched neurotypical participant. Three categories of arm movements were tested: 1) open ended reaches without specific end point targets;2) goal-directed reaches that included grasping an object;3) picking up small objects from a table placed in front of the participants. Arm movement kinematics were obtained with a camera-based motion analysis system and “initiation” and “maintenance” phases were identified for each movement. The combination of the two phases was labeled as a “complete” movement. Three-dimensional analysis techniques were used to quantify the movements and included hand trajectory pathlength, joint motion area, as well as hand trajectory and joint jerk cost. These techniques were required to fully characterize the movements because the NGLY1 individual was unable to perform movements only in the primary plane of progression instead producing motion across all three planes of movement. The individual with NGLY1 Deficiency was unable to pick up objects from a table or effectively complete movements requiring crossing the midline. The successfully completed movements were analyzed using the above techniques and the results of the two participants were compared statistically. Almost all comparisons revealed significant differences between the two participants, with a notable exception of the 3D initiation area as a percentage of the complete movement. The statistical tests of these measures revealed no significant differences between the two participants, possibly suggesting a common underlying motor control strategy. The 3D techniques used in this report effectively characterized arm movements of an individual with NGLY1 deficiency and can be used to provide information to evaluate the effectiveness of genetic, pharmacological, or physical rehabilitation therapies.展开更多
With advanced communication technologies,cyberphysical systems such as networked industrial control systems can be monitored and controlled by a remote control center via communication networks.While lots of benefits ...With advanced communication technologies,cyberphysical systems such as networked industrial control systems can be monitored and controlled by a remote control center via communication networks.While lots of benefits can be achieved with such a configuration,it also brings the concern of cyber attacks to the industrial control systems,such as networked manipulators that are widely adopted in industrial automation.For such systems,a false data injection attack on a control-center-to-manipulator(CC-M)communication channel is undesirable,and has negative effects on the manufacture quality.In this paper,we propose a resilient remote kinematic control method for serial manipulators undergoing a false data injection attack by leveraging the kinematic model.Theoretical analysis shows that the proposed method can guarantee asymptotic convergence of the regulation error to zero in the presence of a type of false data injection attack.The efficacy of the proposed method is validated via simulations.展开更多
Aiming at the problem that the existing ankle rehabilitation robot is difficult to fully fit the complex motion of human ankle joint and has poor human-machine motion compatibility,an equivalent series mechanism model...Aiming at the problem that the existing ankle rehabilitation robot is difficult to fully fit the complex motion of human ankle joint and has poor human-machine motion compatibility,an equivalent series mechanism model that is highly matched with the actual bone structure of the human ankle joint is proposed and mapped into a parallel rehabilita-tion mechanism.The parallel rehabilitation mechanism has two virtual motion centers(VMCs),which can simulate the complex motion of the ankle joint,adapt to the individual differences of various patients,and can meet the reha-bilitation needs of both left and right feet of patients.Firstly,based on the motion properties and physiological structure of the human ankle joint,the mapping relationship between the rehabilitation mechanism and ankle joint is determined,and the series equivalent model of the ankle joint is established.According to the kinematic and con-straint properties of the ankle equivalent model,the configuration design of the parallel ankle rehabilitation robot is carried out.Secondly,according to the intersecting motion planes theory,the full-cycle mobility of the mechanism is proved,and the continuous axis of the mechanism is judged based on the constraint power and its derivative.Then,the kinematics of the parallel ankle rehabilitation robot is analyzed.Finally,based on the OpenSim biomechanical soft-ware,a human-machine coupling rehabilitation simulation model is established to evaluate the rehabilitation effect,which lays the foundation for the formulation of a rehabilitation strategy for the later prototype.展开更多
Kinematic calibration is a reliable way to improve the accuracy of parallel manipulators, while the error model dramatically afects the accuracy, reliability, and stability of identifcation results. In this paper, a c...Kinematic calibration is a reliable way to improve the accuracy of parallel manipulators, while the error model dramatically afects the accuracy, reliability, and stability of identifcation results. In this paper, a comparison study on kinematic calibration for a 3-DOF parallel manipulator with three error models is presented to investigate the relative merits of diferent error modeling methods. The study takes into consideration the inverse-kinematic error model, which ignores all passive joint errors, the geometric-constraint error model, which is derived by special geometric constraints of the studied RPR-equivalent parallel manipulator, and the complete-minimal error model, which meets the complete, minimal, and continuous criteria. This comparison focuses on aspects such as modeling complexity, identifcation accuracy, the impact of noise uncertainty, and parameter identifability. To facilitate a more intuitive comparison, simulations are conducted to draw conclusions in certain aspects, including accuracy, the infuence of the S joint, identifcation with noises, and sensitivity indices. The simulations indicate that the complete-minimal error model exhibits the lowest residual values, and all error models demonstrate stability considering noises. Hereafter, an experiment is conducted on a prototype using a laser tracker, providing further insights into the diferences among the three error models. The results show that the residual errors of this machine tool are signifcantly improved according to the identifed parameters, and the complete-minimal error model can approach the measurements by nearly 90% compared to the inverse-kinematic error model. The fndings pertaining to the model process, complexity, and limitations are also instructive for other parallel manipulators.展开更多
The kinematics of about 2000 classical Cepheids of the Milky Way with data from Gaia EDR3 catalog has been studied.For some of these stars,there are line-of-sight velocities.On the basis of the nonlinear rotation mode...The kinematics of about 2000 classical Cepheids of the Milky Way with data from Gaia EDR3 catalog has been studied.For some of these stars,there are line-of-sight velocities.On the basis of the nonlinear rotation model,the parameters of the rotation curve of the Galaxy were determined.The circular linear rotation velocity of the near-solar neighborhood around the Galaxy center was V0=236±3 km s^(−1) for the assumed Sun's galactocentric distance R0=8.1±0.1 kpc.Analysis of residual velocities of Cepheids based on the linear Ogorodnikov–Milne model showed the presence of the following significantly different from zero gradients:∂U/∂x,∂U/∂z,∂V/∂x,∂V/∂z and∂W/∂x,which behave differently depending on the selection radius.The most interesting is the gradient∂W/∂x∼−0.5±0.1 km s^(−1) kpc^(−1)(positive rotation of this star system around the Galactic axis y,Ωy)since the velocities W are free of Galactic rotation.Here we have an indirect influence of various effects leading to a perturbation of the vertical velocities of the Galactic disk stars.Based on a simpler model,a more accurate estimate of this rotation is obtained,Ωy=0.51±0.07 km s^(−1) kpc^(−1).展开更多
The second moment of the stellar velocity within the effective radius,denoted by σ^(2)_(e),is a crucial quantity in galaxy studies,as it provides insight into galaxy properties and their mass distributions.However,la...The second moment of the stellar velocity within the effective radius,denoted by σ^(2)_(e),is a crucial quantity in galaxy studies,as it provides insight into galaxy properties and their mass distributions.However,large spectroscopic surveys typically do not measure σ_(e) directly,instead providing σ_(aper),the second moment of the stellar velocity within a fixed fiber aperture.In this paper,we derive an empirical aperture correction formula,given byσ_(aper)/σ_(e)=(R_(aper)/R_(e))^(α),using spatially resolved stellar kinematics extracted from approximately 10,000 Sloan Digital Sky Survey-Mapping Nearby Galaxies at Apache Point Observatory integral field unit observations.Our analysis reveals a strong dependence ofαon the r-band absolute magnitude M_(r),g-i color,and Sérsic index nSer,whereαvalues are lower for brighter,redder galaxies with higher Sérsic indices.Our results demonstrate that the aperture correction derived from previous literature on early-type galaxies cannot be applied to predict the aperture corrections for galaxies with intermediate Sérsic indices.We provide a lookup table ofαvalues for different galaxy types,with parameters in the ranges of-18>M_(r)>-24,0.4<g-i<1.6,and 0<n_(Ser)<8.A Python script is provided to obtain the correction factors from the lookup table.展开更多
Background:Traumatic brain injury can be caused by head impacts,but many brain injury risk estimation models are not equally accurate across the variety of impacts that patients may undergo,and the characteristics of ...Background:Traumatic brain injury can be caused by head impacts,but many brain injury risk estimation models are not equally accurate across the variety of impacts that patients may undergo,and the characteristics of different types of impacts are not well studied.We investigated the spectral characteristics of different head impact types with kinematics classification.Methods:Data were analyzed from 3262 head impacts from lab reconstruction,American football,mixed martial arts,and publicly available car crash data.A random forest classifier with spectral densities of linear acceleration and angular velocity was built to classify head impact types(e.g.,football,car crash,mixed martial arts).To test the classifier robustness,another 271 lab-reconstructed impacts were obtained from 5 other instrumented mouthguards.Finally,with the classifier,type-specific,nearest-neighbor regression models were built for brain strain.Results:The classifier reached a median accuracy of 96% over 1000 random partitions of training and test sets.The most important features in the classification included both low-and high-frequency features,both linear acceleration features and angular velocity features.Different head impact types had different distributions of spectral densities in low-and high-frequency ranges(e.g.,the spectral densities of mixed martial arts impacts were higher in the high-frequency range than in the low-frequency range).The type-specific regression showed a generally higher R2value than baseline models without classification.Conclusion:The machine-learning-based classifier enables a better understanding of the impact kinematics spectral density in different sports,and it can be applied to evaluate the quality of impact-simulation systems and on-field data augmentation.展开更多
文摘The network of Himalayan roadways and highways connects some remote regions of valleys or hill slopes,which is vital for India’s socio-economic growth.Due to natural and artificial factors,frequency of slope instabilities along the networks has been increasing over last few decades.Assessment of stability of natural and artificial slopes due to construction of these connecting road networks is significant in safely executing these roads throughout the year.Several rock mass classification methods are generally used to assess the strength and deformability of rock mass.This study assesses slope stability along the NH-1A of Ramban district of North Western Himalayas.Various structurally and non-structurally controlled rock mass classification systems have been applied to assess the stability conditions of 14 slopes.For evaluating the stability of these slopes,kinematic analysis was performed along with geological strength index(GSI),rock mass rating(RMR),continuous slope mass rating(CoSMR),slope mass rating(SMR),and Q-slope in the present study.The SMR gives three slopes as completely unstable while CoSMR suggests four slopes as completely unstable.The stability of all slopes was also analyzed using a design chart under dynamic and static conditions by slope stability rating(SSR)for the factor of safety(FoS)of 1.2 and 1 respectively.Q-slope with probability of failure(PoF)1%gives two slopes as stable slopes.Stable slope angle has been determined based on the Q-slope safe angle equation and SSR design chart based on the FoS.The value ranges given by different empirical classifications were RMR(37-74),GSI(27.3-58.5),SMR(11-59),and CoSMR(3.39-74.56).Good relationship was found among RMR&SSR and RMR&GSI with correlation coefficient(R 2)value of 0.815 and 0.6866,respectively.Lastly,a comparative stability of all these slopes based on the above classification has been performed to identify the most critical slope along this road.
基金jointly funded by the Northwest Regional Weather Modification Capacity Building Project of the China Meteorological Administration(Grant No.ZQC-R18209)the National Natural Science Foundation of China(Grant Nos.41875172 and 42075192)。
文摘Three cases of microphysical characteristics and kinematic structures in the negative temperature region of summer mesoscale cloud systems over the eastern Tibetan Plateau(TP)were investigated using X-band dual-polarization radar.The time-height series of radar physical variables and mesoscale horizontal divergence δderived by quasi-vertical profiles(QVPs)indicated that the dendritic growth layer(DGL,-20°C to-10°C)was ubiquitous,with large-value zones of K_(DP)(specific differential phase),Z_(DR)(differential reflectivity),or both,and corresponded to various dynamic fields(ascent or descent).Ascents in the DGL of cloud systems with vigorous vertical development were coincident with large-value zones of Z_(DR),signifying ice crystals with a large axis ratio,but with no obvious large values of K_(DP),which differs from previous findings.It is speculated that ascent in the DGL promoted ice crystals to undergo further growth before sinking.If there was descent in the DGL,a high echo top corresponded to large values of K_(DP),denoting a large number concentration of ice crystals;but with the echo top descending,small values of K_(DP) formed.This is similar to previous results and reveals that a high echo top is conducive to the generation of ice crystals.When ice particles fall to low levels(-10℃ to 0℃),they grow through riming,aggregation,or deposition,and may not be related to the kinematic structure.It is important to note that this study was only based on a limited number of cases and that further research is therefore needed.
基金supported by the National Natural Science Foundation of China(Grant No.41662014)。
文摘The Sonid Zuoqi ductile detachment zone is located at the southeastern margin of the Central Asian orogenic belt(CAOB),striking EW and dipping to the S.The major rock type of the Sonid Zuoqi ductile detachment zone is mylonite derived from granite.The sequence of mylonite features is:(1)S and C foliations of mylonite,and(2)extensional crenulation cleavage(ecc)or C′and the kinematic vorticity(Wk)value changed from 0.70 to 0.95 and from 0.37 to 0.69,respectively;the strain type of the mylonites within the Sonid Zuoqi ductile detachment zone is compressional to planar strain.The strong deformation mylonite and Halatu plutons yielded a zircon U-Pb age of 244 Ma and a zircon(U-Th)/He age of 214 Ma,respectively.Based on the strain and kinematic vorticity analysis,together with the zircon U-Pb and zircon(U-Th)/He ages and the regional tectonic background,the study area experienced three stage evolution:tangential simpleshear(244 Ma),simple-shear-dominated general shear represented by upper crustal extension(224 Ma)and pure-shear-dominated general shear represented by the Halatu pluton doming(214 Ma),which constrained the early Mesozoic NE-SW crustal extension at the southeastern margin of the CAOB.This NE-SW extension probably originated from the postorogenic extensional collapse of the CAOB,subsequent exhumation being controlled by the far afield effects of the closure of the Mongol-Okhotsk belt.
基金financed by the National Key Research and Development Program of China,High efficiency space satellite charging system based on microwave wireless energy transfer technology(Grant No.2021YFB3900304)。
文摘This paper presents a systematic methodology for analyzing and optimizing an innovative antenna mount designed for phased array antennas, implemented through a novel 2-PSS&1-RR circular-rail parallel mechanism. Initially, a comparative motion analysis between the 3D model of the mount and its full-scale prototype is conducted to validate effectiveness. Given the inherent complexity, a kinematic mapping model is established between the mount and the crank-slider linkage, providing a guiding framework for subsequent analysis and optimization. Guided by this model, feasible inverse and forward solutions are derived, enabling precise identification of stiffness singularities. The concept of singularity distance is thus introduced to reflect the structural stiffness of the mount. Subsequently, also guided by the mapping model, a heuristic algorithm incorporating two backtracking procedures is developed to reduce the mount's mass. Additionally, a parametric finite-element model is employed to explore the relation between singularity distance and structural stiffness. The results indicate a significant reduction(about 16%) in the antenna mount's mass through the developed algorithm, while highlighting the singularity distance as an effective stiffness indicator for this type of antenna mount.
基金Supported by National Natural Science Foundation of China(Grant No.52075145)S&T Program of Hebei Province of China(Grant Nos.20281805Z,E2020103001)Central Government Guides Basic Research Projects of Local Science and Technology Development Funds of China(Grant No.206Z1801G).
文摘The kinematic equivalent model of an existing ankle-rehabilitation robot is inconsistent with the anatomical structure of the human ankle,which influences the rehabilitation effect.Therefore,this study equates the human ankle to the UR model and proposes a novel three degrees of freedom(3-DOF)generalized spherical parallel mechanism for ankle rehabilitation.The parallel mechanism has two spherical centers corresponding to the rotation centers of tibiotalar and subtalar joints.Using screw theory,the mobility of the parallel mechanism,which meets the requirements of the human ankle,is analyzed.The inverse kinematics are presented,and singularities are identified based on the Jacobian matrix.The workspaces of the parallel mechanism are obtained through the search method and compared with the motion range of the human ankle,which shows that the parallel mechanism can meet the motion demand of ankle rehabilitation.Additionally,based on the motion-force transmissibility,the performance atlases are plotted in the parameter optimal design space,and the optimum parameter is obtained according to the demands of practical applications.The results show that the parallel mechanism can meet the motion requirements of ankle rehabilitation and has excellent kinematic performance in its rehabilitation range,which provides a theoretical basis for the prototype design and experimental verification.
基金funded by National Natural Science Foundation,China(Grant Nos.41972264 and 42207214)Zhejiang Provincial Natural Science Foundation,China(Grant No.LR22E080002).
文摘Planar sliding is one of the frequently observed types of failure in rock slopes.Kinematic analysis is a classic and widely used method to examine the potential failure modes in rock masses.The accuracy of planar sliding kinematic analysis is significantly influenced by the value assigned to the lateral limit angleγlim.However,the assignment ofγlim is currently used generally based on an empirical criterion.This study aims to propose an approach for determining the value ofγlim in deterministic and probabilistic kinematic planar sliding analysis.A new perspective is presented to reveal thatγlim essentially influences the probability of forming a potential planar sliding block.The procedure to calculate this probability is introduced using the block theory method.It is found that the probability is correlated with the number of discontinuity sets presented in rock masses.Thus,different values ofγlim for rock masses with different sets of discontinuities are recommended in both probabilistic and deterministic planar sliding kinematic analyses;whereas a fixed value ofγlim is commonly assigned to different types of rock masses in traditional method.Finally,an engineering case was used to compare the proposed and traditional kinematic analysis methods.The error rates of the traditional method vary from 45%to 119%,while that of the proposed method ranges between 1%and 17%.Therefore,it is likely that the proposed method is superior to the traditional one.
基金supported by Grants from the National Natural Science Foundation of China(42004010)the Beijing Natural Science Foundation(8204077)。
文摘Rapid acquisition of the kinematic deformation field and seismic intensity distribution of large earthquakes is crucial for postseismic emergency rescue,disaster assessment,and future seismic risk research.The advancement of GNSS observation and data processing makes it play an important role in this field,especially the high-frequency GNSS.We used the differential positioning method to calculate the 1 HZ GNSS data from 98 sites within 1000 km of the M_(S)7.4 Maduo earthquake epicenter.The kinematic deformation field and the distribution of the seismic intensity by using the peak ground velocity derived from displacement waveforms were obtained.The results show that:1)Horizontal coseismic response deformation levels ranging from 25 mm to 301 mm can be observed within a 1000 km radius from the epicenter.Coseismic response deformation on the east and west sides shows bilateral asymmetry,which markedly differs from the symmetry presented by surface rupture.2)The seismic intensity obtained through high-frequency GNSS and field investigations exhibits good consistency of the scope and orientation in the high seismic intensity area,although the former is generally slightly smaller than the latter.3)There may exist obstacles on the eastern side of the seismogenic fault.The Maduo earthquake induced a certain tectonic stress loading effect on the western Kunlun Pass-Jiangcuo fault(KPJF)and Maqin-Maqu segment,resulting in higher seismic risk in the future.
基金supported by the National Natural Science Foundation of China (61503392)。
文摘This study presents a kinematic calibration method for exoskeletal inertial motion capture (EI-MoCap) system with considering the random colored noise such as gyroscopic drift.In this method, the geometric parameters are calibrated by the traditional calibration method at first. Then, in order to calibrate the parameters affected by the random colored noise, the expectation maximization (EM) algorithm is introduced. Through the use of geometric parameters calibrated by the traditional calibration method, the iterations under the EM framework are decreased and the efficiency of the proposed method on embedded system is improved. The performance of the proposed kinematic calibration method is compared to the traditional calibration method. Furthermore, the feasibility of the proposed method is verified on the EI-MoCap system. The simulation and experiment demonstrate that the motion capture precision is significantly improved by 16.79%and 7.16%respectively in comparison to the traditional calibration method.
基金provided by the National Natural Science Foundation of China(Grants No.12272238 and No.11932013)the"Outstanding Young Scholar"Program of Shanghai Municipalthe"Dawn"Program of Shanghai Education Commission(Grant No.19SG47)。
文摘Background:Foot kinematics,such as excessive eversion and malalignment of the hindfoot,are believed to be associated with running-related injuries.The maj ority of studies to date show that different foot strike patterns influence these specific foot and ankle kinematics.However,technical deficiencies in traditional motion capture approaches limit knowledge of in vivo joint kinematics with respect to rearfoot and forefoot strike patterns(RFS and FFS,respectively).This study uses a high-speed dual fluoroscopic imaging system(DFIS)to determine the effects of different foot strike patterns on 3D in vivo tibiotalar and subtalar joints kinematics.Methods:Fifteen healthy male recreational runners underwent foot computed tomography scanning for the construction of 3-dimensional models.A high-speed DFIS(100 Hz)was used to collect 6 degrees of freedom kinematics for participants’tibiotalar and subtalar joints when they adopted RFS and FFS in barefoot condition.Results:Compared with RFS,FFS exhibited greater internal rotation at 0%-20%of the stance phase in the tibiotalar joint.The peak internal rotation angle of the tibiotalar joint under FFS was greater than under RFS(p<0.001,Cohen’s d=0.92).RFS showed more dorsiflexion at 0%-20%of the stance phase in the tibiotalar joint than FFS.RFS also presented a larger anterior translation(p<0.001,Cohen’s d=1.28)in the subtalar joint at i nitial contact than FFS.Conclusion:Running with acute barefoot FFS increases the internal rotation of the tibiotalar joint in the early stance.The use of high-speed DFIS to quantify the movement of the tibiotalar and subtalar joint was critical to revealing the effects of RF S and FFS during running.
基金supported by the research contracts 806/31.4830 and 806/31.5511 between the private company Laboratorio Ortoplus S.L.and the University of Malaga.
文摘Mandibular advancement devices(MADs)are widely used treatments for obstructive sleep apnea.MADs function by advancing the lower jaw to open the upper airway.To increase patient comfort,most patients allow the mouth to be opened.However,not all systems maintain the lower jaw in a forward position during mouth opening,which results in the production of a retrusion that favors the collapse of the upper airway.Furthermore,the kinematic behavior of the mechanism formed by the mandible-device assembly depends on jaw morphology.This means that,during mouth opening,some devices cause lower jaw protrusion in some patients,but cause its retraction in others.In this study,we report the behavior of well-known devices currently on themarket.To do so,we developed a kinematic model of the lower jawdevice assembly.Thismodelwas validated for all devices analyzed using a high-resolution camera system.Our results show that some of the devices analyzed here did not produce the correct behavior during patient mouth opening.
文摘BACKGROUND Advances in implant material and design have allowed for improvements in total knee arthroplasty(TKA)outcomes.A cruciate retaining(CR)TKA provides the least constraint of TKA designs by preserving the native posterior cruciate ligament.Limited research exists that has examined clinical outcomes or patient reported outcome measures(PROMs)of a large cohort of patients undergoing a CR TKA utilizing a kinematically designed implant.It was hypothesized that the studied CR Knee System would demonstrate favorable outcomes and a clinically significant improvement in pain and functional scores.AIM To assess both short-term and mid-term clinical outcomes and PROMs of a novel CR TKA design.METHODS A retrospective,multi-surgeon study identified 255 knees undergoing a TKA utilizing a kinematically designed CR Knee System(JOURNEY™II CR;Smith and Nephew,Inc.,Memphis,TN)at an urban,academic medical institution between March 2015 and July 2021 with a minimum of two-years of clinical follow-up with an orthopedic surgeon.Patient demographics,surgical information,clinical outcomes,and PROMs data were collected via query of electronic medical records.The PROMs collected in the present study included the Knee Injury and Osteoarthritis Outcome Score for Joint Replacement(KOOS JR)and Patient-Reported Outcomes Measurement Information System(PROMIS■)scores.The significance of improvements in mean PROM scores from preoperative scores to scores collected at six months and two-years postoperatively was analyzed using Independent Samples t-tests.RESULTS Of the 255 patients,65.5%were female,43.8%were White,and patients had an average age of 60.6 years.Primary osteoarthritis(96.9%)was the most common primary diagnosis.The mean surgical time was 105.3 minutes and mean length of stay was 2.1 d with most patients discharged home(92.5%).There were 18 emergency department(ED)visits within 90 d of surgery resulting in a 90 d ED visit rate of 7.1%,including a 2.4%orthopedic-related ED visit rate and a 4.7%non-orthopedic-related ED visit rate.There were three(1.2%)hospital readmissions within 90 d postoperatively.With a mean time to latest follow-up of 3.3 years,four patients(1.6%)required revision,two for arthrofibrosis,one for aseptic femoral loosening,and one for peri-prosthetic joint infection.There were significant improvements in KOOS JR,PROMIS Pain Intensity,PROMIS Pain Interference,PROMIS Mobility,and PROMIS Physical Health from preoperative scores to six month and two-year postoperative scores.CONCLUSION The evaluated implant is an effective,novel design offering excellent outcomes and low complication rates.At a mean follow up of 3.3 years,four patients required revisions,three aseptic and one septic,resulting in an overall implant survival rate of 98.4%and an aseptic survival rate of 98.8%.The results of our study demonstrate the utility of this kinematically designed implant in the setting of primary TKA.
基金supported by the National Key Research and Development Project (No. 2022YFA1602301)the National Natural Science Foundation of China (Nos. U2267205, 12275361, 12125509, 12222514, 11961141003, and 12005304)+2 种基金the CAST Young Talent Support Planthe CNNC Science Fund for Talented Young Scholarsthe Continuous-Support Basic Scientific Research Project
文摘The ^(12)C+^(12)C fusion is one of the most important reactions in modern nuclear astrophysics.The trend and magnitude of the reaction rate within the Gamow window strongly influence various astrophysical processes.However,direct measurement of this reaction is extremely difficult,which makes it necessary to develop indirect methods.In this study,the ^(23)Na+p reaction system was used to study the compound nucleus ^(24)Mg.We employed a thick-target inverse kinematics method combined with theγ-charged-particle coincidence technique to measure the proton andα exit channels of ^(24)Mg.Technical details of the ^(23)Na+p thick-target inverse kinematics experiment and analysis are presented herein.
文摘Objective: To explore gait kinematics analysis and evaluate the surgical efficacy of total knee arthroplasty (TKA), as well as its guiding significance for postoperative rehabilitation. Method: Fifty patients admitted to TKA treatment for knee osteoarthritis from December 2022 to July 2023 were included, which were divided into an intervention group (gait kinematics analysis group, n = 25) and a control group (conventional rehabilitation program group, n = 25). All patients underwent HSS score and KSS score before surgery (T0), 1 month after surgery (T1), 3 months after surgery (T2), and 6 months after surgery (T3). The intervention group underwent gait kinematics analysis at 1 month after surgery (T1) and 3 months after surgery (T2). Two groups measured the hip knee ankle angle (HKA), distal femoral lateral angle (LDFA), and proximal tibial medial angle (MPTA) on knee joint radiographs before and after surgery. Results: There was no significant difference in general information, preoperative imaging parameters, and functional scores between the two groups of patients. There was no significant difference in functional scores and postoperative prosthesis alignment between the two groups of patients in the first month after surgery. The intervention group showed a significant decrease in gait kinematic scores in the first month, with hip joint scores being particularly prominent (P 0.05). Conclusion: Gait kinematic analysis is helpful in evaluating the postoperative efficacy of TKA and can guide early and rapid recovery after TKA.
文摘NGLY1 Deficiency is an ultra-rare autosomal recessively inherited disorder. Characteristic symptoms include among others, developmental delays, movement disorders, liver function abnormalities, seizures, and problems with tear formation. Movements are hyperkinetic and may include dysmetric, choreo-athetoid, myoclonic and dystonic movement elements. To date, there have been no quantitative reports describing arm movements of individuals with NGLY1 Deficiency. This report provides quantitative information about a series of arm movements performed by an individual with NGLY1 Deficiency and an aged-matched neurotypical participant. Three categories of arm movements were tested: 1) open ended reaches without specific end point targets;2) goal-directed reaches that included grasping an object;3) picking up small objects from a table placed in front of the participants. Arm movement kinematics were obtained with a camera-based motion analysis system and “initiation” and “maintenance” phases were identified for each movement. The combination of the two phases was labeled as a “complete” movement. Three-dimensional analysis techniques were used to quantify the movements and included hand trajectory pathlength, joint motion area, as well as hand trajectory and joint jerk cost. These techniques were required to fully characterize the movements because the NGLY1 individual was unable to perform movements only in the primary plane of progression instead producing motion across all three planes of movement. The individual with NGLY1 Deficiency was unable to pick up objects from a table or effectively complete movements requiring crossing the midline. The successfully completed movements were analyzed using the above techniques and the results of the two participants were compared statistically. Almost all comparisons revealed significant differences between the two participants, with a notable exception of the 3D initiation area as a percentage of the complete movement. The statistical tests of these measures revealed no significant differences between the two participants, possibly suggesting a common underlying motor control strategy. The 3D techniques used in this report effectively characterized arm movements of an individual with NGLY1 deficiency and can be used to provide information to evaluate the effectiveness of genetic, pharmacological, or physical rehabilitation therapies.
基金This work was supported in part by the National Natural Science Foundation of China(62206109)the Fundamental Research Funds for the Central Universities(21620346)。
文摘With advanced communication technologies,cyberphysical systems such as networked industrial control systems can be monitored and controlled by a remote control center via communication networks.While lots of benefits can be achieved with such a configuration,it also brings the concern of cyber attacks to the industrial control systems,such as networked manipulators that are widely adopted in industrial automation.For such systems,a false data injection attack on a control-center-to-manipulator(CC-M)communication channel is undesirable,and has negative effects on the manufacture quality.In this paper,we propose a resilient remote kinematic control method for serial manipulators undergoing a false data injection attack by leveraging the kinematic model.Theoretical analysis shows that the proposed method can guarantee asymptotic convergence of the regulation error to zero in the presence of a type of false data injection attack.The efficacy of the proposed method is validated via simulations.
基金Supported by National Natural Science Foundation of China(Grant No.52075145)S&T Program of Hebei Province of China(Grant No.20281805Z)+1 种基金Hebei Provincial Natural Science Foundation of China(Grant No.E2022202130)Central Government Guides Basic Research Projects of Local Science and Technology Development Funds of China(Grant No.206Z1801G).
文摘Aiming at the problem that the existing ankle rehabilitation robot is difficult to fully fit the complex motion of human ankle joint and has poor human-machine motion compatibility,an equivalent series mechanism model that is highly matched with the actual bone structure of the human ankle joint is proposed and mapped into a parallel rehabilita-tion mechanism.The parallel rehabilitation mechanism has two virtual motion centers(VMCs),which can simulate the complex motion of the ankle joint,adapt to the individual differences of various patients,and can meet the reha-bilitation needs of both left and right feet of patients.Firstly,based on the motion properties and physiological structure of the human ankle joint,the mapping relationship between the rehabilitation mechanism and ankle joint is determined,and the series equivalent model of the ankle joint is established.According to the kinematic and con-straint properties of the ankle equivalent model,the configuration design of the parallel ankle rehabilitation robot is carried out.Secondly,according to the intersecting motion planes theory,the full-cycle mobility of the mechanism is proved,and the continuous axis of the mechanism is judged based on the constraint power and its derivative.Then,the kinematics of the parallel ankle rehabilitation robot is analyzed.Finally,based on the OpenSim biomechanical soft-ware,a human-machine coupling rehabilitation simulation model is established to evaluate the rehabilitation effect,which lays the foundation for the formulation of a rehabilitation strategy for the later prototype.
基金Supported by National Key Research and Development Program of China(Grant No.2019YFA0709001)National Natural Science Foundation of China(Grant Nos.52022056,51875334,52205031 and 52205034)National Key Research and Development Program of China(Grant No.2017YFE0111300).
文摘Kinematic calibration is a reliable way to improve the accuracy of parallel manipulators, while the error model dramatically afects the accuracy, reliability, and stability of identifcation results. In this paper, a comparison study on kinematic calibration for a 3-DOF parallel manipulator with three error models is presented to investigate the relative merits of diferent error modeling methods. The study takes into consideration the inverse-kinematic error model, which ignores all passive joint errors, the geometric-constraint error model, which is derived by special geometric constraints of the studied RPR-equivalent parallel manipulator, and the complete-minimal error model, which meets the complete, minimal, and continuous criteria. This comparison focuses on aspects such as modeling complexity, identifcation accuracy, the impact of noise uncertainty, and parameter identifability. To facilitate a more intuitive comparison, simulations are conducted to draw conclusions in certain aspects, including accuracy, the infuence of the S joint, identifcation with noises, and sensitivity indices. The simulations indicate that the complete-minimal error model exhibits the lowest residual values, and all error models demonstrate stability considering noises. Hereafter, an experiment is conducted on a prototype using a laser tracker, providing further insights into the diferences among the three error models. The results show that the residual errors of this machine tool are signifcantly improved according to the identifed parameters, and the complete-minimal error model can approach the measurements by nearly 90% compared to the inverse-kinematic error model. The fndings pertaining to the model process, complexity, and limitations are also instructive for other parallel manipulators.
文摘The kinematics of about 2000 classical Cepheids of the Milky Way with data from Gaia EDR3 catalog has been studied.For some of these stars,there are line-of-sight velocities.On the basis of the nonlinear rotation model,the parameters of the rotation curve of the Galaxy were determined.The circular linear rotation velocity of the near-solar neighborhood around the Galaxy center was V0=236±3 km s^(−1) for the assumed Sun's galactocentric distance R0=8.1±0.1 kpc.Analysis of residual velocities of Cepheids based on the linear Ogorodnikov–Milne model showed the presence of the following significantly different from zero gradients:∂U/∂x,∂U/∂z,∂V/∂x,∂V/∂z and∂W/∂x,which behave differently depending on the selection radius.The most interesting is the gradient∂W/∂x∼−0.5±0.1 km s^(−1) kpc^(−1)(positive rotation of this star system around the Galactic axis y,Ωy)since the velocities W are free of Galactic rotation.Here we have an indirect influence of various effects leading to a perturbation of the vertical velocities of the Galactic disk stars.Based on a simpler model,a more accurate estimate of this rotation is obtained,Ωy=0.51±0.07 km s^(−1) kpc^(−1).
基金the support of the National Natural Science Foundation of China(Nos.11988101 and 12022306)National Key R&D Program of China(No.2022YFF0503403)+5 种基金Ministry of Science and Technology of China(No.2020SKA0110100)science research grants from the China Manned Space Project(Nos.CMS-CSST-2021-B01 and CMS-CSST-2021-A01)CAS Project for Young Scientists in Basic Research(No.YSBR-062)K.C.Wong Education Foundationprovided by the Alfred P.Sloan Foundationthe U.S.Department of Energy’s Office of Science。
文摘The second moment of the stellar velocity within the effective radius,denoted by σ^(2)_(e),is a crucial quantity in galaxy studies,as it provides insight into galaxy properties and their mass distributions.However,large spectroscopic surveys typically do not measure σ_(e) directly,instead providing σ_(aper),the second moment of the stellar velocity within a fixed fiber aperture.In this paper,we derive an empirical aperture correction formula,given byσ_(aper)/σ_(e)=(R_(aper)/R_(e))^(α),using spatially resolved stellar kinematics extracted from approximately 10,000 Sloan Digital Sky Survey-Mapping Nearby Galaxies at Apache Point Observatory integral field unit observations.Our analysis reveals a strong dependence ofαon the r-band absolute magnitude M_(r),g-i color,and Sérsic index nSer,whereαvalues are lower for brighter,redder galaxies with higher Sérsic indices.Our results demonstrate that the aperture correction derived from previous literature on early-type galaxies cannot be applied to predict the aperture corrections for galaxies with intermediate Sérsic indices.We provide a lookup table ofαvalues for different galaxy types,with parameters in the ranges of-18>M_(r)>-24,0.4<g-i<1.6,and 0<n_(Ser)<8.A Python script is provided to obtain the correction factors from the lookup table.
基金supported by the Pac-12 Conference’s Student-Athlete Health and Well-Being Initiative,the National Institutes of Health (R24NS098518)Stanford Department of Bioengineering。
文摘Background:Traumatic brain injury can be caused by head impacts,but many brain injury risk estimation models are not equally accurate across the variety of impacts that patients may undergo,and the characteristics of different types of impacts are not well studied.We investigated the spectral characteristics of different head impact types with kinematics classification.Methods:Data were analyzed from 3262 head impacts from lab reconstruction,American football,mixed martial arts,and publicly available car crash data.A random forest classifier with spectral densities of linear acceleration and angular velocity was built to classify head impact types(e.g.,football,car crash,mixed martial arts).To test the classifier robustness,another 271 lab-reconstructed impacts were obtained from 5 other instrumented mouthguards.Finally,with the classifier,type-specific,nearest-neighbor regression models were built for brain strain.Results:The classifier reached a median accuracy of 96% over 1000 random partitions of training and test sets.The most important features in the classification included both low-and high-frequency features,both linear acceleration features and angular velocity features.Different head impact types had different distributions of spectral densities in low-and high-frequency ranges(e.g.,the spectral densities of mixed martial arts impacts were higher in the high-frequency range than in the low-frequency range).The type-specific regression showed a generally higher R2value than baseline models without classification.Conclusion:The machine-learning-based classifier enables a better understanding of the impact kinematics spectral density in different sports,and it can be applied to evaluate the quality of impact-simulation systems and on-field data augmentation.
