scholarly journals Torsion or not torsion, that is the question

2016 ◽  
Vol 25 (12) ◽  
pp. 1644013 ◽  
Author(s):  
Yuri Bonder
Keyword(s):  
General Relativity ◽  
Degrees Of Freedom ◽  
Empirical Support ◽  
Experimental Tests ◽  
Spin Polarized ◽  
Empirical Tests ◽  
New Interactions

A hypothesis of general relativity (GR) is that spacetime torsion vanishes identically. This assumption has no empirical support; in fact, a nonvanishing torsion is compatible with all the experimental tests of GR. The first part of this essay specifies the framework that is suitable to test the vanishing-torsion hypothesis, and an interesting relation with the gravitational degrees of freedom is suggested. In the second part, some original empirical tests are proposed based on the observation that torsion induces new interactions between different spin-polarized particles.

General Relativity

2019 ◽  
Author(s):  
Steven Carlip
Keyword(s):  
General Relativity ◽  
High Energy Physics ◽  
Hamiltonian Formulation ◽  
Experimental Tests ◽  
High Energy ◽  
Gravitational Energy ◽  
Field Equations ◽  
Physics First ◽  
Condensed Matter Theory ◽  
Introductory Textbooks

This work is a short textbook on general relativity and gravitation, aimed at readers with a broad range of interests in physics, from cosmology to gravitational radiation to high energy physics to condensed matter theory. It is an introductory text, but it has also been written as a jumping-off point for readers who plan to study more specialized topics. As a textbook, it is designed to be usable in a one-quarter course (about 25 hours of instruction), and should be suitable for both graduate students and advanced undergraduates. The pedagogical approach is “physics first”: readers move very quickly to the calculation of observational predictions, and only return to the mathematical foundations after the physics is established. The book is mathematically correct—even nonspecialists need to know some differential geometry to be able to read papers—but informal. In addition to the “standard” topics covered by most introductory textbooks, it contains short introductions to more advanced topics: for instance, why field equations are second order, how to treat gravitational energy, what is required for a Hamiltonian formulation of general relativity. A concluding chapter discusses directions for further study, from mathematical relativity to experimental tests to quantum gravity.

scholarly journals A New Approach of Soft Joint Based on a Cable-Driven Parallel Mechanism for Robotic Applications

Mathematics ◽  
2021 ◽  
Vol 9 (13) ◽  
pp. 1468
Author(s):  
Luis Nagua ◽  
Carlos Relaño ◽  
Concepción A. Monje ◽  
Carlos Balaguer
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Experimental Tests ◽  
Humanoid Robots ◽  
Inverse Kinematic ◽  
Element Analysis ◽  
New Approach ◽  
Flexible Polymer ◽  
The Mathematical Model

A soft joint has been designed and modeled to perform as a robotic joint with 2 Degrees of Freedom (DOF) (inclination and orientation). The joint actuation is based on a Cable-Driven Parallel Mechanism (CDPM). To study its performance in more detail, a test platform has been developed using components that can be manufactured in a 3D printer using a flexible polymer. The mathematical model of the kinematics of the soft joint is developed, which includes a blocking mechanism and the morphology workspace. The model is validated using Finite Element Analysis (FEA) (CAD software). Experimental tests are performed to validate the inverse kinematic model and to show the potential use of the prototype in robotic platforms such as manipulators and humanoid robots.

Numerical and Experimental Approaches to Investigate the Stability of a Motorcycle Vehicle

2006 ◽  
Author(s):  
Federico Cheli ◽  
Marco Bocciolone ◽  
Marco Pezzola ◽  
Elisabetta Leo
Keyword(s):  
Degrees Of Freedom ◽  
Structural Parameters ◽  
Experimental Tests ◽  
Roll Angle ◽  
Longitudinal Motion ◽  
Reference Trajectory ◽  
Steering Angle ◽  
Steady State Condition ◽  
The Stability ◽  
Linearized Model

The study of motorcycle’s stability is an important task for the passenger’s safety. The range of frequencies involved for the handling stability is lower than 10 Hz. A numerical model was developed to access the stability of a motorcycle vehicle in this frequency range. The stability is analysed using a linearized model around the straight steady state condition. In this condition, the vehicle’s vertical and longitudinal motion are decoupled, hence the model has only four degrees of freedom (steering angle, yaw angle, roll angle and lateral translation), while longitudinal motion is imposed. The stability was studied increasing the longitudinal speed. The input of the model can be either a driver input manoeuvre (roll angle) or a transversal component of road input able to excite the vibration modes. The driver is introduced in the model as a steering torque that allows the vehicle to follow a reference trajectory. To validate the model, experimental tests were done. To excite the vehicle modes, the driver input was not taken into account considering both the danger for the driver and the repeatability of the manoeuvre. Two different vehicle configurations were tested: vehicle 1 is a motorcycle [7] and vehicle 2 is a scooter. Through the use of the validated model, a sensitivity analysis was done changing structural (for example normal trail, steering angle, mass) and non structural parameters (for example longitudinal speed).

scholarly journals State Feedback and Torque Feed Forward Combined Control System for Suppressing Drill-Strings Stick-Slip Vibration

2019 ◽  
Vol 37 (2) ◽  
pp. 291-298
Author(s):  
Meng Fu ◽  
Jianghong Li ◽  
Yafeng Wu ◽  
Shubiao Song ◽  
Aiqi Zhao ◽  
...  
Keyword(s):  
Control System ◽  
Degrees Of Freedom ◽  
State Feedback ◽  
Dynamic Performance ◽  
Experimental Tests ◽  
State Observer ◽  
Lumped Parameter Model ◽  
Stick Slip ◽  
Feed Forward ◽  
Reference Governor

In drilling field, drill-strings stick-slip vibration is a common phenomenon and may lead to a series of drilling accidents. In order to improve drilling efficiency, this paper commits to study a new control system to suppress the undesired stick-slip vibration. In this work, a two degrees of freedom lumped parameter model is established to imitate the drill-strings. A state observer is proposed to estimate the unknown drill-strings states. A reference governor is put forward to optimize drilling parameters. In addition, in order to enhance the anti-interference ability of the closed-loop system, a torque feed forward is introduced into the control system. Based on the state observer and the reference governor, a state feedback and torque feed forward combined controller is designed. The simulation results indicate preliminarily that the designed state feedback and torque feed forward controller, compared with the drilling industry PI controller, has better dynamic performance and stronger ability to eliminate the drill-strings stick-slip vibration. Finally, the control system is applied in the drilling field. The experimental tests demonstrate that the designed controller can effectively suppress the drill-strings stick-slip vibration.

scholarly journals Augustine of Hippo’s Philosophy of Time Meets General Relativity

KronoScope ◽  
2014 ◽  
Vol 14 (1) ◽  
pp. 71-89 ◽  
Author(s):  
Ettore Minguzzi
Keyword(s):  
General Relativity ◽  
Cosmological Model ◽  
Degrees Of Freedom ◽  
Big Bang ◽  
Null Hypersurface ◽  
Philosophy Of Time ◽  
The Big Bang ◽  
The Universe

Abstract This paper proposes a cosmological model that uses a causality argument to solve the homogeneity and entropy problems of cosmology. In this model, a chronology violating region of spacetime causally precedes the remainder of the Universe, and a theorem establishes the existence of time functions precisely outside the chronology violating region. This model is shown to nicely reproduce Augustine of Hippo’s thought on time and the beginning of the Universe. In the model, the spacelike boundary representing the Big Bang is replaced by a null hypersurface at which the gravitational degrees of freedom are almost frozen while the matter and radiation content is highly homogeneous and thermalized.

scholarly journals HOLLOWGRAPHY DRIVEN HOLOGRAPHY: BLACK HOLE WITH VANISHING VOLUME INTERIOR

2010 ◽  
Vol 19 (14) ◽  
pp. 2345-2351 ◽  
Author(s):  
AHARON DAVIDSON ◽  
ILYA GURWICH
Keyword(s):  
Phase Transition ◽  
General Relativity ◽  
Black Hole ◽  
Degrees Of Freedom ◽  
Schwarzschild Solution ◽  
Entropy Formula ◽  
Gravitational Theories ◽  
Hollow Interior ◽  
Spatial Volume ◽  
Self Similar

Hawking–Bekenstein entropy formula seems to tell us that no quantum degrees of freedom can reside in the interior of a black hole. We suggest that this is a consequence of the fact that the volume of any interior sphere of finite surface area simply vanishes. Obviously, this is not the case in general relativity. However, we show that such a phenomenon does occur in various gravitational theories which admit a spontaneously induced general relativity. In such theories, due to a phase transition (one-parameter family degenerates) which takes place precisely at the would-have-been horizon, the recovered exterior Schwarzschild solution connects, by means of a self-similar transition profile, with a novel "hollow" interior exhibiting a vanishing spatial volume and a locally varying Newton constant. This constitutes the so-called "hollowgraphy" driven holography.

Numerical and experimental performance estimation for a ExoFing - 2 DOFs finger exoskeleton

Robotica ◽  
2021 ◽  
pp. 1-13
Author(s):  
G Carbone ◽  
M Ceccarelli ◽  
C. E. Capalbo ◽  
G Caroleo ◽  
C Morales-Cruz
Keyword(s):  
Degrees Of Freedom ◽  
Experimental Validation ◽  
Index Finger ◽  
Kinematic Model ◽  
Experimental Tests ◽  
Performance Estimation ◽  
Experimental Performance ◽  
Finger Motion ◽  
User Friendly ◽  
Operation Characteristics

Abstract This paper presents a numerical and experimental validation of ExoFing, a two-degrees-of-freedom finger mechanism exoskeleton. The main functionalities of this device are investigated by focusing on its kinematic model and by computing its main operation characteristics via numerical simulations. Experimental tests are designed and carried out for validating both the engineering feasibility and effectiveness of the ExoFing system aiming at achieving a human index finger motion assistance with cost-oriented and user-friendly features.

The gravitational rainbow beyond Einstein gravity

2019 ◽  
Vol 28 (05) ◽  
pp. 1942003 ◽  
Author(s):  
Claudia de Rham
Keyword(s):  
General Relativity ◽  
Gravitational Waves ◽  
Upper Bound ◽  
Degrees Of Freedom ◽  
Direct Detection ◽  
Einstein Gravity ◽  
Observable Universe ◽  
Basic Properties ◽  
Speed Of Propagation

The recent direct detection of gravitational waves have been successfully used to examine the basic properties of the gravitational degrees of freedom. They set an upper bound on their mass and constrain their speed of propagation with unprecedented accuracy. Within the current realm of observational and theoretical constraints, we explore the possibility for gravity to depart from general relativity (GR) in the infrared and derive the implications on our observable Universe. We also investigate whether these types of models could ever enjoy a standard analytic UV completion.

Motorcycle Analytical Modeling Including Tire–Wheel Nonuniformities for Ride Comfort Analysis

2017 ◽  
Vol 45 (2) ◽  
pp. 101-120 ◽  
Author(s):  
Matheus de B. Vallim ◽  
José M. C. Dos Santos ◽  
Argemiro L. A. Costa
Keyword(s):  
Degrees Of Freedom ◽  
Analytical Modeling ◽  
Ride Comfort ◽  
Experimental Tests ◽  
Rotational Frequency ◽  
Analytical Models ◽  
Vertical Force ◽  
Lumped Mass ◽  
Multi Body ◽  
4 Degrees Of Freedom

ABSTRACT The transmission of vibrations in motorcycles and their perception by the passengers are fundamental in comfort analysis. Tire nonuniformities can generate self-excitations at the rotational frequency of the wheel and contribute to the ride vibration environment. In this work a multi-body motorcycle model is built to evaluate the ride comfort with respect to tire nonuniformities. The aim is to obtain a multi–degrees-of-freedom dynamic model that includes both the contributions of the motorcycle and tire–wheel assembly structures. This representation allows the tire nonuniformities to predict the vertical force variations on the motorcycle and can be used through a root mean square acceleration evaluation for ride comfort analysis. The motorcycle model proposed is a 10-degrees-of-freedom system, where each tire–wheel is a 4-degrees-of-freedom model. The tire–wheel assemblies include two types of nonuniformities: lumped mass imbalance and radial run-out. Simulations of analytical models are compared with experimental tests.

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