Minimal Spatial Accelerometer Configurations

2013 ◽  
Vol 135 (2) ◽  
Author(s):  
Thomas R. Williams ◽  
Donald W. Raboud ◽  
Ken R. Fyfe
Keyword(s):  
Angular Velocity ◽  
Special Class ◽  
Design Methodology ◽  
Angular Acceleration ◽  
The Body ◽  
Specific Force ◽  
Geometric Conditions ◽  
Minimum Number ◽  
First Time ◽  
General Motion

It is well established that it is necessary to use a minimum of six accelerometers to determine the general motion of a rigid body. Using this minimum number of accelerometers generally requires that a nonlinear differential equation be solved for the angular velocity and that the estimate of angular velocity that is obtained from the solution of this equation be used in the calculation of the specific force at a point. This paper serves two main purposes. First it discusses, for the first time, the geometric conditions that must be satisfied by an arrangement of six accelerometers so that it is possible, in principle, to determine the motion of the body to which they are attached. Second, a special class of minimal accelerometer configurations that yields angular acceleration as a linear combination of accelerometer measurements is identified, and a design methodology for this special class is presented.

Kinematics of rotation in place during defense turning in the crayfish Procambarus clarkii

2001 ◽  
Vol 204 (3) ◽  
pp. 471-486 ◽  
Author(s):  
N. Copp ◽  
M. Jamon
Keyword(s):  
Angular Velocity ◽  
Procambarus Clarkii ◽  
Angular Acceleration ◽  
The Body ◽  
Simple Variation ◽  
Freely Behaving ◽  
Leg Motion ◽  
Two Phases ◽  
Analysis System ◽  
Final Orientation

The kinematic patterns of defense turning behavior in freely behaving specimens of the crayfish Procambarus clarkii were investigated with the aid of a video-analysis system. Movements of the body and all pereiopods, except the chelipeds, were analyzed. Because this behavior approximates to a rotation in place, this analysis extends previous studies on straight and curve walking in crustaceans. Specimens of P. clarkii responded to a tactile stimulus on a walking leg by turning accurately to face the source of the stimulation. Angular velocity profiles of the movement of the animal's carapace suggest that defense turn responses are executed in two phases: an initial stereotyped phase, in which the body twists on its legs and undergoes a rapid angular acceleration, followed by a more erratic phase of generally decreasing angular velocity that leads to the final orientation. Comparisons of contralateral members of each pair of legs reveal that defense turns are affected by changes in step geometry, rather than by changes in the timing parameters of leg motion, although inner legs 3 and 4 tend to take more steps than their outer counterparts during the course of a response. During the initial phase, outer legs 3 and 4 exhibit larger stance amplitudes than their inner partners, and all the outer legs produce larger stance amplitudes than their inner counterparts during the second stage of the response. Also, the net vectors of the initial stances, particularly, are angled with respect to the body, with the power strokes of the inner legs produced during promotion and those of the outer legs produced during remotion. Unlike straight and curve walking in the crayfish, there is no discernible pattern of contralateral leg coordination during defense turns. Similarities and differences between defense turns and curve walking are discussed. It is apparent that rotation in place, as in defense turns, is not a simple variation on straight or curve walking but a distinct locomotor pattern.

Some Dimensions of the Angular Acceleration Receptor Systems of Cephalopods

1984 ◽  
Vol 64 (1) ◽  
pp. 55-79 ◽  
Author(s):  
Linda Maddock ◽  
J. Z. Young
Keyword(s):  
Angular Velocity ◽  
Frequency Band ◽  
Deep Sea ◽  
Horizontal Plane ◽  
Angular Acceleration ◽  
The Body ◽  
The Other ◽  
Radius Of Curvature ◽  
Internal Radius ◽  
Neutrally Buoyant

The shapes and dimensions of the statocysts of cephalopods have been measured and compared with the semi-circular canals of vertebrates. The cavities grow much more slowly than the body as a whole, but there are knobs, anticristae, which restrict the cavity, and these grow relatively faster. This ensures that the flow of endolymph across the cupulae remains small. Where the liquid is constrained within canals the radius of curvature of the whole canal, R, is similar to that of fishes, whereas its internal radius, r, is twice as large in non-buoyant and four times as large in deep-sea buoyant cephalopods as in fishes of similar size. As in fishes the restriction is greatest in the horizontal plane, providing for operation at higher frequencies in turning about the yaw axis.The statocysts of seven species of Loligo all have similar proportions. The largest individuals of 16 genera of non-buoyant squids also have these same relative dimensions. The statocyst of Sepia is more like that of non-buoyant than of other buoyant cephalopods but yet differs significantly from that of Loligo at all sizes. On the other hand 21 genera of squids known to be neutrally buoyant are very different. Their statocysts are often larger than in the non-buoyant forms and there is less restriction of the cavity by anticristae. The greater flow of endolymph acting across the cupulae presumably provides greater sensitivity at the lower frequencies of turning of these deep-sea animals.The data suggest that the cristae of the cephalopod statocyst may operate in the frequency band where they act as angular accelerometers whereas the vertebrate semi-circular canals operate at higher frequencies as angular velocity meters.

Computation of Rigid-Body Angular Acceleration From Point-Acceleration Measurements

1987 ◽  
Vol 109 (2) ◽  
pp. 124-127 ◽  
Author(s):  
Jorge Angeles
Keyword(s):  
Angular Velocity ◽  
Rigid Body ◽  
Measurement Errors ◽  
Angular Acceleration ◽  
The Body ◽  
The Other ◽  
Compatibility Conditions ◽  
Other Hand ◽  
The One

The computation of the angular acceleration of a rigid body from measurements of accelerations of three noncollinear points of the body is presented in this paper. This is based on algorithms presented previously for the computation of the orientation and the angular velocity of a rigid body from measurements of position and velocity of three noncollinear points of the body. Moreover, compatibility conditions that the said point measurements should verify are introduced. These are necessary to verify the rigidity assumption on the one hand; on the other hand, they are introduced as a means of filtering roundoff and/or measurement errors, which is particularly useful if redundant measurements are taken, i.e., on more than three points. The procedure is illustrated with a fully solved example.

On the Dynamics of Bodies With Continual Mass Variation

2006 ◽  
Vol 74 (4) ◽  
pp. 810-815 ◽  
Author(s):  
L. Cveticanin ◽  
I. Kovacic
Keyword(s):  
Angular Velocity ◽  
Theoretical Consideration ◽  
Impact Force ◽  
Technical Problem ◽  
Plane Motion ◽  
The Body ◽  
Mass Center ◽  
Mass Variation ◽  
The Impact ◽  
General Motion

In this paper the differential equations of the general motion of the rigid body with continual mass variation are considered. The impact force and the impact torque that occur due to addition or separation of the body with velocity and angular velocity which differs from the velocity of mass center and angular velocity of the existing body are introduced. The theoretical consideration is applied for solving a real technical problem when the band winds up on the drum. The plane motion of the drum on which the band winds up is considered. The influence of the velocity of the band on the angular velocity of the drum and the motion of the drum mass center is obtained.

A Study on Mixed Kinetic-Kinematic Equations for Multibody Systems

2013 ◽  
Author(s):  
Sung-Soo Kim ◽  
Bongcheol Seo ◽  
Myungho Kim
Keyword(s):  
Angular Velocity ◽  
Velocity Vector ◽  
Reference Frames ◽  
Time Derivative ◽  
Kinetic Equations ◽  
Angular Acceleration ◽  
The Body ◽  
Integration Step ◽  
Angular Velocity Vector ◽  
The Relationship

In this paper, mixed kinetic-kinematic equations for a multibody system have been studied in order to resolve the difficulties of non-integrability of angular velocity vectors. As for the kinetic equations, the Newton-Euler equations of motion are considered. They are derived in terms of angular velocity and angular acceleration vectors expressed in the body fixed reference frames. As for the kinematic compatibility equations, two different equations are considered. One is from the relationship between the angular velocity vector and the time derivatives of Euler parameters. The other is from the relationship between the rotational orientation matrix, its time derivative, and the angular velocity vector. In order to investigate the accuracy of the solution methods using two different kinematic compatibility equations, simulations of a spherical pendulum model and a 1/6 robot vehicle model have been carried out. With different integration step-sizes, the constraint violation errors have been also investigated.

Roles of eyes, leg proprioceptors and statocysts in the compensatory eye movements of freely walking land crabs (Cardisoma guanhumi)

1998 ◽  
Vol 201 (24) ◽  
pp. 3395-3409
Author(s):  
H. Paul ◽  
W. J. P. Barnes ◽  
D. Varjú
Keyword(s):  
Eye Movements ◽  
Angular Velocity ◽  
Regression Line ◽  
Angular Acceleration ◽  
High Gain ◽  
The Body ◽  
Retinal Slip ◽  
Land Crab ◽  
Land Crabs ◽  
Cardisoma Guanhumi

The compound eyes, the canal organs of the statocysts and proprioceptors in the legs all generate compensatory eye movements in the horizontal plane in the land crab Cardisoma guanhumi. Frequency analyses of the compensatory eye reflexes elicited by each of these inputs show that visual (V) and proprioceptive (P) reflexes respond best below 0.1 Hz, while statocyst (S)reflexes only achieve a high gain above this frequency. They thus increase the range of frequencies over which compensation can occur. Eye and body movements were recorded in an arena under all possible combinations of crabs seeing or blind (V+ or V-), with or without statocysts (S+ or S-) and freely walking or passively transported on a trolley (P+ or P-). Intact crabs (V+S+P+) show good stabilisation of the eyes in space, the only movements with respect to external coordinates being saccadic resetting movements (fast phases of nystagmus). The eyes thus compensate well for body turns, but are unaffected by translatory movements of the body and turns that are not accompanied by a change in the orientation of the long axis of the body in space. In the absence of any one sense, compensation for rotation is significantly impaired, whether measured by the increase in the width of the histograms of changes in the angular positions of the eyes in space ( capdelta &phgr; E), by the mean angular velocity of the eyes(slope of regression line, mE) with respect to the angular velocity of the body (mB) or by response gain plotted against angular acceleration of body turn (a). The absence of two senses reduces the crab's ability to compensate still further, with the statocyst-only condition (V-S+P-) being little better than the condition when all three senses are absent(V-S-P-).Such multisensory control of eye compensation for body rotation is discussed both in terms of making use of every available cue for reducing retinal slip and in making available the information content of the optic flow field.

DESIGN AND ANALYSIS OF CAM MECHANISM WITH NEGATIVE RADIUS ROLLER-FOLLOWER

2016 ◽  
Vol 40 (1) ◽  
pp. 89-100
Author(s):  
Jung-Fa Hsieh
Keyword(s):  
Angular Velocity ◽  
Design Methodology ◽  
Kinematic Model ◽  
Angular Acceleration ◽  
Principal Curvatures ◽  
Simple Method ◽  
Surface Theory ◽  
Cam Mechanism ◽  
Cam Profile ◽  
Analytical Expressions

This paper presents a simple method for the design and analysis of a cam mechanism with a negative radius roller-follower. In the proposed approach, conjugate surface theory is employed to derive a kinematic model of the cam mechanism. Analytical expressions for the pressure angle and principal curvatures of the cam profile are then derived. Finally, analytical expressions for the angular velocity and angular acceleration of the roller are derived. The validity of the proposed design methodology is demonstrated by machining a cam mechanism having a negative radius roller-follower with a radius of 100 mm.

TapOnce: a novel authentication method on smartphones

2018 ◽  
Vol 14 (1) ◽  
pp. 33-48 ◽  
Author(s):  
Minori Inoue ◽  
Takefumi Ogawa
Keyword(s):  
Mobile Devices ◽  
Design Methodology ◽  
Sensitive Information ◽  
Equal Error Rate ◽  
Security Technology ◽  
Content Type ◽  
Input Size ◽  
Key Factor ◽  
Minimum Number ◽  
First Time

Purpose Security technology on mobile devices is increasingly more important as smartphones are becoming more versatile and, thus, store more sensitive information. Among the three indispensable factors of owner authentication technologies on mobile devices, security, usability and system efficiency, usability is considered the key factor. This paper aims to challenge the limits of usability on mobile device authentication technology with respect to input size. Design/methodology/approach This paper introduces one tap authentication as a novel authentication method on mobile devices. A user just has to tap the screen of a smartphone once, and he or she will be authenticated. Findings One tap authentication is proven possible in this paper. The average equal error rate among 10 owners against 25 unauthorized users is as low as 3.8. Research limitations/implications This paper focuses on verifying the possibility on one tap authentication. However, the application to various environments, such as when standing or walking or on a train, is not explored. Originality/value This research explores tap authentication with a single tap for the first time in the field. To the best of the authors’ knowledge, the minimum number of taps required in tap authentication has been 4.

Interest rate option hedging portfolios without bank account

2019 ◽  
Vol 37 (1) ◽  
pp. 134-142
Author(s):  
Alberto Bueno-Guerrero
Keyword(s):  
Design Methodology ◽  
Contingent Claim ◽  
Necessary And Sufficient Condition ◽  
Barrier Option ◽  
Bank Account ◽  
Content Type ◽  
Option Hedging ◽  
Hedging Portfolio ◽  
Necessary And Sufficient ◽  
First Time

Purpose This paper aims to study the conditions for the hedging portfolio of any contingent claim on bonds to have no bank account part. Design/methodology/approach Hedging and Malliavin calculus techniques recently developed under a stochastic string framework are applied. Findings A necessary and sufficient condition for the hedging portfolio to have no bank account part is found. This condition is applied to a barrier option, and an example of a contingent claim whose hedging portfolio has a bank account part different from zero is provided. Originality/value To the best of the authors’ knowledge, this is the first time that this issue has been addressed in the literature.

scholarly journals Electro-Quasistatic Animal Body Communication for Untethered Rodent Biopotential Recording

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Shreeya Sriram ◽  
Shitij Avlani ◽  
Matthew P. Ward ◽  
Shreyas Sen
Keyword(s):  
Lower Energy ◽  
Sensor Node ◽  
State Of The Art ◽  
The Body ◽  
Animal Body ◽  
Current State ◽  
Communication Modalities ◽  
First Time ◽  
Biopotential Recording

AbstractContinuous multi-channel monitoring of biopotential signals is vital in understanding the body as a whole, facilitating accurate models and predictions in neural research. The current state of the art in wireless technologies for untethered biopotential recordings rely on radiative electromagnetic (EM) fields. In such transmissions, only a small fraction of this energy is received since the EM fields are widely radiated resulting in lossy inefficient systems. Using the body as a communication medium (similar to a ’wire’) allows for the containment of the energy within the body, yielding order(s) of magnitude lower energy than radiative EM communication. In this work, we introduce Animal Body Communication (ABC), which utilizes the concept of using the body as a medium into the domain of untethered animal biopotential recording. This work, for the first time, develops the theory and models for animal body communication circuitry and channel loss. Using this theoretical model, a sub-inch$$^3$$ 3 [1″ × 1″ × 0.4″], custom-designed sensor node is built using off the shelf components which is capable of sensing and transmitting biopotential signals, through the body of the rat at significantly lower powers compared to traditional wireless transmissions. In-vivo experimental analysis proves that ABC successfully transmits acquired electrocardiogram (EKG) signals through the body with correlation $$>99\%$$ > 99 % when compared to traditional wireless communication modalities, with a 50$$\times$$ × reduction in power consumption.

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