scholarly journals Mobility of ‘ N -loops’: bodies cyclically connected by intersecting revolute hinges

2009 ◽  
Vol 466 (2113) ◽  
pp. 63-77 ◽  
Author(s):  
S. D. Guest ◽  
P. W. Fowler
Keyword(s):  
Phase Space ◽  
Degrees Of Freedom ◽  
Large Scale ◽  
Molecular Models ◽  
Extended Version ◽  
Deployable Structures

The mobilities of many objects from toys and molecular models to large-scale deployable structures can be understood in terms of N -loops: sets of N bodies, cyclically connected by pairs of intersecting revolute hinges. A symmetry-extended version of the Grübler criterion for counting kinematic degrees of freedom is used to explain and rationalize the observed mobilities of N -loops with small N . Compared with simple counting, the symmetry-based approach gives improved detection and visualization of mechanisms and states of self-stress. It can also give a better account of the differing mobilities of conformers occupying different regions of the phase space, such as the rigid chair and flexible boat forms of cyclohexane.

scholarly journals Modeling and Validation of a Passive Truss-Link Mechanism for Deployable Structures Considering Friction Compensation with Response Surface Methods

2022 ◽  
Vol 12 (1) ◽  
pp. 451
Author(s):  
Han-Sol Choi ◽  
Dong-Yeon Kim ◽  
Jeong-Hoon Park ◽  
Jae Hyuk Lim ◽  
Tae Seong Jang
Keyword(s):  
Response Surface ◽  
Degrees Of Freedom ◽  
Large Scale ◽  
Frictional Torque ◽  
Gravity Compensation ◽  
Deployable Structures ◽  
Response Surface Methods ◽  
Revolute Joints ◽  
Link Mechanism ◽  
History Of

In this study, a passive truss-link mechanism applicable to large-scale deployable structures was designed to achieve successful deployment in space. First, we simplified the selected truss-link mechanisms to the two-dimensional geometry and calculated the degrees of freedom (DOF) to determine whether a kinematic over-constraint occurs. The dimensions of the truss-link structure were determined through a deployment kinematic analysis. Second, a deployment simulation with the truss-link was conducted using multibody dynamics (MBD) software. Finally, a deployment test was performed considering gravity compensation, and the results were compared with those of MBD simulation. The results of the deployment simulations were confirmed to be slightly faster than those of the deployment test due to friction effects existing in the joints and gravity compensation devices. To address this issue, inverse identification of the equivalent frictional torque (EFT) at the revolute joints in the deployment test was conducted through response surface methods (RSM) combined with the central composite design technique. As a result, we confirmed that the deployment angle history of the deployment simulation was similar to that of the deployment test.

Shape Dynamics and the Linking Theory

2018 ◽  
Author(s):  
Flavio Mercati
Keyword(s):  
Phase Space ◽  
Degrees Of Freedom ◽  
Line Element ◽  
Hamiltonian Formulation ◽  
Operational Definition ◽  
Extended Phase Space ◽  
Extended Phase ◽  
Problem Of Time ◽  
Definition Of ◽  
Matter Fields

This chapter explains in detail the current Hamiltonian formulation of SD, and the concept of Linking Theory of which (GR) and SD are two complementary gauge-fixings. The physical degrees of freedom of SD are identified, the simple way in which it solves the problem of time and the problem of observables in quantum gravity are explained, and the solution to the problem of constructing a spacetime slab from a solution of SD (and the related definition of physical rods and clocks) is described. Furthermore, the canonical way of coupling matter to SD is introduced, together with the operational definition of four-dimensional line element as an effective background for matter fields. The chapter concludes with two ‘structural’ results obtained in the attempt of finding a construction principle for SD: the concept of ‘symmetry doubling’, related to the BRST formulation of the theory, and the idea of ‘conformogeometrodynamics regained’, that is, to derive the theory as the unique one in the extended phase space of GR that realizes the symmetry doubling idea.

Designing Affordance-Based Procedures Using Heuristic Cognitive Work Analysis: Application to Triage in an Emergency Department

2021 ◽  
pp. 155534342110295
Author(s):  
Thierry Morineau ◽  
Mounia Djenidi-Delfour ◽  
Fabrice Arnault
Keyword(s):  
Emergency Department ◽  
Degrees Of Freedom ◽  
Qualitative Evaluation ◽  
Hospital Emergency Department ◽  
Extended Version ◽  
Cognitive Work Analysis ◽  
Hospital Emergency ◽  
Work Analysis ◽  
Cognitive Work ◽  
Analysis Application

This study describes the concept of affordance-based procedure and its implementation in a triage station in a hospital emergency department. Rather than seeking to increase operators’ adherence to procedures, an affordance-based procedure (1) aims to induce task steps using affordances that also (2) support degrees of freedom for action. The design of this procedure was guided by the application of an extended version of cognitive work analysis, named “heuristic cognitive work analysis.” This design process produced a new procedural document: a reception card. Ten months after its implementation, a qualitative evaluation with 10 triage nurses shows that the reception card is viewed as supporting coordination between the different nurses’ tasks and providing an external memory to cope with frequent interruptions during high patient inflow, even though the document is used for convenience and with unexpected and partial uses of its items. The document assessed also afforded emerging benefits, that is, acceleration of ambulance release, higher level of confidentiality, assistance for staff hand-overs. Finally, novice triage nurses are particularly sensitive to the benefits brought by this affordance-based procedure.

scholarly journals Dynamic Loads and Response of a Spar Buoy Wind Turbine with Pitch-Controlled Rotating Blades: An Experimental Study

Energies ◽  
2021 ◽  
Vol 14 (12) ◽  
pp. 3598
Author(s):  
Sara Russo ◽  
Pasquale Contestabile ◽  
Andrea Bardazzi ◽  
Elisa Leone ◽  
Gregorio Iglesias ◽  
...  
Keyword(s):  
Wind Speed ◽  
Wind Turbine ◽  
Degrees Of Freedom ◽  
Large Scale ◽  
Laboratory Data ◽  
Nonlinear Behavior ◽  
Offshore Wind ◽  
Small Scale ◽  
Wave Steepness ◽  
Design Factor

New large-scale laboratory data are presented on a physical model of a spar buoy wind turbine with angular motion of control surfaces implemented (pitch control). The peculiarity of this type of rotating blade represents an essential aspect when studying floating offshore wind structures. Experiments were designed specifically to compare different operational environmental conditions in terms of wave steepness and wind speed. Results discussed here were derived from an analysis of only a part of the whole dataset. Consistent with recent small-scale experiments, data clearly show that the waves contributed to most of the model motions and mooring loads. A significant nonlinear behavior for sway, roll and yaw has been detected, whereas an increase in the wave period makes the wind speed less influential for surge, heave and pitch. In general, as the steepness increases, the oscillations decrease. However, higher wind speed does not mean greater platform motions. Data also indicate a significant role of the blade rotation in the turbine thrust, nacelle dynamic forces and power in six degrees of freedom. Certain pairs of wind speed-wave steepness are particularly unfavorable, since the first harmonic of the rotor (coupled to the first wave harmonic) causes the thrust force to be larger than that in more energetic sea states. The experiments suggest that the inclusion of pitch-controlled, variable-speed blades in physical (and numerical) tests on such types of structures is crucial, highlighting the importance of pitch motion as an important design factor.

scholarly journals Automated Quality Assessment of Interferometric Ring Laser Data

Sensors ◽  
2021 ◽  
Vol 21 (10) ◽  
pp. 3425
Author(s):  
Andreas Brotzer ◽  
Felix Bernauer ◽  
Karl Ulrich Schreiber ◽  
Joachim Wassermann ◽  
Heiner Igel
Keyword(s):  
Quality Assessment ◽  
Ground Motion ◽  
Ring Laser ◽  
Degrees Of Freedom ◽  
Large Scale ◽  
Scientific Field ◽  
Optical Frequency ◽  
Laser Array ◽  
Laser Data ◽  
Rotational Motions

In seismology, an increased effort to observe all 12 degrees of freedom of seismic ground motion by complementing translational ground motion observations with measurements of strain and rotational motions could be witnessed in recent decades, aiming at an enhanced probing and understanding of Earth and other planetary bodies. The evolution of optical instrumentation, in particular large-scale ring laser installations, such as G-ring and ROMY (ROtational Motion in seismologY), and their geoscientific application have contributed significantly to the emergence of this scientific field. The currently most advanced, large-scale ring laser array is ROMY, which is unprecedented in scale and design. As a heterolithic structure, ROMY’s ring laser components are subject to optical frequency drifts. Such Sagnac interferometers require new considerations and approaches concerning data acquisition, processing and quality assessment, compared to conventional, mechanical instrumentation. We present an automated approach to assess the data quality and the performance of a ring laser, based on characteristics of the interferometric Sagnac signal. The developed scheme is applied to ROMY data to detect compromised operation states and assign quality flags. When ROMY’s database becomes publicly accessible, this assessment will be employed to provide a quality control feature for data requests.

Integrated Redesign of Large-Scale Structures by Large Admissible Perturbations

2003 ◽  
Vol 125 (4) ◽  
pp. 234-241 ◽  
Author(s):  
Vincent Y. Blouin ◽  
Michael M. Bernitsas ◽  
Denby Morrison
Keyword(s):  
Degrees Of Freedom ◽  
Large Scale ◽  
Direct Method ◽  
Computational Effort ◽  
Forced Response ◽  
Response Amplitude ◽  
Computational Time ◽  
Performance Constraints ◽  
Large Admissible Perturbations ◽  
Design Selection

In structural redesign (inverse design), selection of the number and type of performance constraints is a major challenge. This issue is directly related to the computational effort and, most importantly, to the success of the optimization solver in finding a solution. These issues are the focus of this paper, which provides and discusses techniques that can help designers formulate a well-posed integrated complex redesign problem. LargE Admissible Perturbations (LEAP) is a general methodology, which solves redesign problems of complex structures with, among others, free vibration, static deformation, and forced response amplitude constraints. The existing algorithm, referred to as the Incremental Method is improved in this paper for problems with static and forced response amplitude constraints. This new algorithm, referred to as the Direct Method, offers comparable level of accuracy for less computational time and provides robustness in solving large-scale redesign problems in the presence of damping, nonstructural mass, and fluid-structure interaction effects. Common redesign problems include several natural frequency constraints and forced response amplitude constraints at various frequencies of excitation. Several locations on the structure and degrees of freedom can be constrained simultaneously. The designer must exercise judgment and physical intuition to limit the number of constraints and consequently the computational time. Strategies and guidelines are discussed. Such techniques are presented and applied to a 2,694 degree of freedom offshore tower.

Analytical Model for Rockfall Protection Galleries - a Blind Prediction of Test Results and Conclusion

2011 ◽  
Vol 82 ◽  
pp. 722-727 ◽  
Author(s):  
Kristian Schellenberg ◽  
Norimitsu Kishi ◽  
Hisashi Kon-No
Keyword(s):  
Degrees Of Freedom ◽  
Large Scale ◽  
Test Results ◽  
Blind Prediction ◽  
Proposed Model ◽  
Input Parameters ◽  
Scale Test ◽  
Definition Of ◽  
Protective Structures ◽  
Cushion Layer

A system of multiple degrees of freedom composed out of three masses and three springs has been presented in 2008 for analyzing rockfall impacts on protective structures covered by a cushion layer. The model has then been used for a blind prediction of a large-scale test carried out in Sapporo, Japan, in November 2009. The test results showed substantial deviations from the blind predictions, which led to a deeper evaluation of the model input parameters showing a significant influence of the modeling properties for the cushion layer on the overall results. The cushion properties include also assumptions for the loading geometry and the definition of the parameters can be challenging. This paper introduces the test setup and the selected parameters in the proposed model for the blind prediction. After comparison with the test results, adjustments in the input parameters in order to match the test results have been evaluated. Conclusions for the application of the model as well as for further model improvements are drawn.

scholarly journals Shell model description of heavy nuclei and abnormal collective motions

2018 ◽  
Vol 178 ◽  
pp. 02015
Author(s):  
Chong Qi
Keyword(s):  
Shell Model ◽  
Degrees Of Freedom ◽  
Large Scale ◽  
Model Description ◽  
Heavy Nuclei ◽  
Collective Models ◽  
Collective Behaviors ◽  
Electromagnetic Transition ◽  
Nuclear Shell ◽  
Model Approach

In this contribution I present systematic calculations on the spectroscopy and electromagnetic transition properties of intermediate-mass and heavy nuclei around 100Sn and 208Pb. We employed the large-scale configuration interaction shell model approach with realistic interactions. Those nuclei are the longest isotopic chains that can be studied by the nuclear shell model. I will show that the yrast spectra of Te isotopes show a vibrational-like equally spaced pattern but the few known E2 transitions show rotational-like behaviour. These kinds of abnormal collective behaviors cannot be reproduced by standard collective models and provide excellent background to study the competition of single-particle and various collective degrees of freedom. Moreover, the calculated B(E2) values for neutron-deficient and heavier Te isotopes show contrasting different behaviours along the yrast line, which may be related to the enhanced neutron-proton correlation when approaching N=50. The deviations between theory and experiment concerning the energies and E2 transition properties of low-lying 0+ and 2+ excited states and isomeric states in those nuclei may provide a constraint on our understanding of nuclear deformation and intruder configuration in that region.

Maximum load determination of nonholonomic mobile manipulator using hierarchical optimal control

Robotica ◽  
2011 ◽  
Vol 30 (1) ◽  
pp. 53-65 ◽  
Author(s):  
M. H. Korayem ◽  
V. Azimirad ◽  
H. Vatanjou ◽  
A. H. Korayem
Keyword(s):  
Optimal Control ◽  
Degrees Of Freedom ◽  
Large Scale ◽  
Maximum Load ◽  
Mobile Manipulator ◽  
Interaction Terms ◽  
Different Types ◽  
Interaction Variables ◽  
Maximum Allowable Dynamic Load

SUMMARYThis paper presents a new method using hierarchical optimal control for path planning and calculating maximum allowable dynamic load (MADL) of wheeled mobile manipulator (WMM). This method is useful for high degrees of freedom WMMs. First, the overall system is decoupled to a set of subsystems, and then, hierarchical optimal control is applied on them. The presented algorithm is a two-level hierarchical algorithm. In the first level, interaction terms between subsystems are fixed, and in the second level, the optimization problem for subsystems is solved. The results of second level are used for calculating new estimations of interaction variables in the first level. For calculating MADL, the load on the end effector is increased until actuators get into saturation. Given a large-scale robot, we show how the presenting in distributed hierarchy in optimal control helps to find MADL fast. Also, it enables us to treat with complicated cost functions that are generated by obstacle avoidance terms. The effectiveness of this approach on simulation case studies for different types of WMMs as well as an experiment for a mobile manipulator called Scout is shown.

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