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
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
Because the deployable structures are complex multi-loop structures and methods of derivation which lead to simpler kinematic and dynamic equations of motion are the subject of research effort, the kinematics and dyna...Because the deployable structures are complex multi-loop structures and methods of derivation which lead to simpler kinematic and dynamic equations of motion are the subject of research effort, the kinematics and dynamics of deployable structures with scissor-like-elements are presented based on screw theory and the principle of virtual work respectively. According to the geometric characteristic of the deployable structure examined, the basic structural unit is the common scissor-like-element(SLE). First, a spatial deployable structure, comprised of three SLEs, is defined, and the constraint topology graph is obtained. The equations of motion are then derived based on screw theory and the geometric nature of scissor elements. Second, to develop the dynamics of the whole deployable structure, the local coordinates of the SLEs and the Jacobian matrices of the center of mass of the deployable structure are derived. Then, the equivalent forces are assembled and added in the equations of motion based on the principle of virtual work. Finally, dynamic behavior and unfolded process of the deployable structure are simulated. Its figures of velocity, acceleration and input torque are obtained based on the simulate results. Screw theory not only provides an efficient solution formulation and theory guidance for complex multi-closed loop deployable structures, but also extends the method to solve dynamics of deployable structures. As an efficient mathematical tool, the simper equations of motion are derived based on screw theory.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
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
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
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
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
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
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
In star formation regions,the complex organic molecules(COMs)that contain peptide bonds(-NH-C(=O)-)play a major role in the metabolic process because-NH-C(=O)-is connected to amino acids(R-CHNH_2-COOH).Over the past f...In star formation regions,the complex organic molecules(COMs)that contain peptide bonds(-NH-C(=O)-)play a major role in the metabolic process because-NH-C(=O)-is connected to amino acids(R-CHNH_2-COOH).Over the past few decades,many COMs containing peptide-like bonds have been detected in hot molecular cores(HMCs),hot corinos,and cold molecular clouds,however,their prebiotic chemistry is poorly understood.We present the first detection of the rotational emission lines of formamide(NH_2CHO)and isocyanic acid(HNCO),which contain peptide-like bonds toward the chemically rich HMC G358.93-0.03 MM1,using high-resolution and high-sensitivity Atacama Large Millimeter/submillimeter Array bands 6 and 7.We estimate that the column densities of NH_2CHO and HNCO toward G358.93-0.03 MM1 are(2.80±0.29)×10~(15)cm~(-2)and(1.80±0.42)×10~(16)cm~(-2)with excitation temperatures of 165±21 K and 170±32 K,respectively.The fractional abundances of NH_2CHO and HNCO toward G358.93-0.03 MM1 are(9.03±1.44)×10~(-10)and(5.80±2.09)×10^(-9).We compare the estimated abundances of NH_2CHO and HNCO with the existing threephase warm-up chemical model abundance values and notice that the observed and modeled abundances are very close.We conclude that NH_2CHO is produced by the reaction of NH_2and H_2CO in the gas phase toward G358.93-0.03 MM1.Likewise,HNCO is produced on the surface of grains by the reaction of NH and CO toward G358.93-0.03 MM1.We also find that NH_2CHO and HNCO are chemically linked toward G358.93-0.03 MM1.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
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
An iterative method is introduced successfully to solve the inverse kinematics of a 6-DOF manipulator of a tunnel drilling rig based on dual quaternion, which is difficult to get the solution by Denavit-Hartenberg(D-H...An iterative method is introduced successfully to solve the inverse kinematics of a 6-DOF manipulator of a tunnel drilling rig based on dual quaternion, which is difficult to get the solution by Denavit-Hartenberg(D-H) based methods. By the intuitive expression of dual quaternion to the orientation of rigid body, the coordinate frames assigned to each joint are established all in the same orientation, which does not need to use the D-H procedure. The compact and simple form of kinematic equations, consisting of position equations and orientation equations, is also the consequence of dual quaternion calculations. The iterative process is basically of two steps which are related to solving the position equations and orientation equations correspondingly. First, assume an initial value of the iterative variable; then, the position equations can be solved because of the reduced number of unknown variables in the position equations and the orientation equations can be solved by applying the solution from the position equations, which obtains an updated value for the iterative variable; finally, repeat the procedure by using the updated iterative variable to the position equations till the prescribed accuracy is obtained. The method proposed has a clear geometric meaning, and the algorithm is simple and direct. Simulation for 100 poses of the end frame shows that the average running time of inverse kinematics calculation for each demanded pose of end-effector is 7.2 ms on an ordinary laptop, which is good enough for practical use. The iteration counts 2-4 cycles generally, which is a quick convergence. The method proposed here has been successfully used in the project of automating a hydraulic rig.展开更多
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 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Supported by National Natural Science Foundation of China(Grant No.51175422)
文摘Because the deployable structures are complex multi-loop structures and methods of derivation which lead to simpler kinematic and dynamic equations of motion are the subject of research effort, the kinematics and dynamics of deployable structures with scissor-like-elements are presented based on screw theory and the principle of virtual work respectively. According to the geometric characteristic of the deployable structure examined, the basic structural unit is the common scissor-like-element(SLE). First, a spatial deployable structure, comprised of three SLEs, is defined, and the constraint topology graph is obtained. The equations of motion are then derived based on screw theory and the geometric nature of scissor elements. Second, to develop the dynamics of the whole deployable structure, the local coordinates of the SLEs and the Jacobian matrices of the center of mass of the deployable structure are derived. Then, the equivalent forces are assembled and added in the equations of motion based on the principle of virtual work. Finally, dynamic behavior and unfolded process of the deployable structure are simulated. Its figures of velocity, acceleration and input torque are obtained based on the simulate results. Screw theory not only provides an efficient solution formulation and theory guidance for complex multi-closed loop deployable structures, but also extends the method to solve dynamics of deployable structures. As an efficient mathematical tool, the simper equations of motion are derived based on screw theory.
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.
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 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.
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.
文摘In star formation regions,the complex organic molecules(COMs)that contain peptide bonds(-NH-C(=O)-)play a major role in the metabolic process because-NH-C(=O)-is connected to amino acids(R-CHNH_2-COOH).Over the past few decades,many COMs containing peptide-like bonds have been detected in hot molecular cores(HMCs),hot corinos,and cold molecular clouds,however,their prebiotic chemistry is poorly understood.We present the first detection of the rotational emission lines of formamide(NH_2CHO)and isocyanic acid(HNCO),which contain peptide-like bonds toward the chemically rich HMC G358.93-0.03 MM1,using high-resolution and high-sensitivity Atacama Large Millimeter/submillimeter Array bands 6 and 7.We estimate that the column densities of NH_2CHO and HNCO toward G358.93-0.03 MM1 are(2.80±0.29)×10~(15)cm~(-2)and(1.80±0.42)×10~(16)cm~(-2)with excitation temperatures of 165±21 K and 170±32 K,respectively.The fractional abundances of NH_2CHO and HNCO toward G358.93-0.03 MM1 are(9.03±1.44)×10~(-10)and(5.80±2.09)×10^(-9).We compare the estimated abundances of NH_2CHO and HNCO with the existing threephase warm-up chemical model abundance values and notice that the observed and modeled abundances are very close.We conclude that NH_2CHO is produced by the reaction of NH_2and H_2CO in the gas phase toward G358.93-0.03 MM1.Likewise,HNCO is produced on the surface of grains by the reaction of NH and CO toward G358.93-0.03 MM1.We also find that NH_2CHO and HNCO are chemically linked toward G358.93-0.03 MM1.
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.
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Project(2013CB035504)supported by the National Basic Research Program of China
文摘An iterative method is introduced successfully to solve the inverse kinematics of a 6-DOF manipulator of a tunnel drilling rig based on dual quaternion, which is difficult to get the solution by Denavit-Hartenberg(D-H) based methods. By the intuitive expression of dual quaternion to the orientation of rigid body, the coordinate frames assigned to each joint are established all in the same orientation, which does not need to use the D-H procedure. The compact and simple form of kinematic equations, consisting of position equations and orientation equations, is also the consequence of dual quaternion calculations. The iterative process is basically of two steps which are related to solving the position equations and orientation equations correspondingly. First, assume an initial value of the iterative variable; then, the position equations can be solved because of the reduced number of unknown variables in the position equations and the orientation equations can be solved by applying the solution from the position equations, which obtains an updated value for the iterative variable; finally, repeat the procedure by using the updated iterative variable to the position equations till the prescribed accuracy is obtained. The method proposed has a clear geometric meaning, and the algorithm is simple and direct. Simulation for 100 poses of the end frame shows that the average running time of inverse kinematics calculation for each demanded pose of end-effector is 7.2 ms on an ordinary laptop, which is good enough for practical use. The iteration counts 2-4 cycles generally, which is a quick convergence. The method proposed here has been successfully used in the project of automating a hydraulic rig.