Otolith-Canal Optimal Interaction for Estimating Body Angular Velocity and Orientation Based on Two Kalman Filters

2008 ◽  
Author(s):  
Karim A. Tahboub
Keyword(s):  
Angular Velocity ◽  
High Frequency ◽  
Kalman Filters ◽  
Estimation Error ◽  
Semicircular Canals ◽  
The Body ◽  
Body Motion ◽  
Complementary Filter ◽  
The Difference ◽  
Translational Acceleration

The human vestibular system, consisting of the otolith and semicircular canals, provides valuable information about body motion and orientation in terms of angular velocity and translational acceleration. This article discusses the dynamic characteristics of these organs and the generated signals and proposes approaches to combine these signals to infer for the body angular velocity. This is the first step towards determining the body orientation and thus the inertial acceleration. The first presented approach evolves around a complementary filter that capitalizes on the low- and high-frequency characteristics of the signals. The second approach resembles two versions of Kalman filter that allow for explicitly estimating the drift of the semicircular canal signal. The difference between the two versions is the number of states employed: the first relies on two states while the second employs innovatively four states selected to minimize the estimation error of orientation, velocity and drift.

Asymmetric Integration Recorded From Vestibular-Only Cells in Response to Position Transients

2002 ◽  
Vol 88 (4) ◽  
pp. 2104-2113 ◽  
Author(s):  
Sam Musallam ◽  
R. D. Tomlinson
Keyword(s):  
Angular Velocity ◽  
Firing Rate ◽  
Vestibular Nucleus ◽  
Semicircular Canals ◽  
Excitatory Postsynaptic Potential ◽  
Otolith Organs ◽  
Neural Integrator ◽  
Postsynaptic Potential ◽  
Translational Acceleration ◽  
Vestibular Pathways

Angular and translational accelerations excite the semicircular canals and otolith organs, respectively. While canal afferents approximately encode head angular velocity due to the biomechanical integration performed by the canals, otolith signals have been found to approximate head translational acceleration. Because central vestibular pathways require velocity and position signals for their operation, the question has been raised as to how the integration of the otolith signals is accomplished. We recorded responses from 62 vestibular-only neurons in the vestibular nucleus of two monkeys to position transients in the naso-occipital and interaural orientations and varying directions in between. Responses to the transients were directionally asymmetric; one direction elicited a response that approximated the integral of the acceleration of the stimulus. In the opposite direction, the cells simply encoded the acceleration of the motion. We present a model that suggests that a neural integrator is not needed. Instead a neuron with a long membrane time constant and an excitatory postsynaptic potential duration that increases with the firing rate of the presynaptic cell can emulate the observed behavior.

scholarly journals The onset of vortex-induced vibrations of a flexible cylinder at large inclination angle

2016 ◽  
Vol 809 ◽  
pp. 111-134 ◽  
Author(s):  
Rémi Bourguet ◽  
Michael S. Triantafyllou
Keyword(s):  
Inclination Angle ◽  
Vortex Shedding ◽  
High Frequency ◽  
Normal Incidence ◽  
The Body ◽  
Body Motion ◽  
High Frequency Component ◽  
Flexible Cylinder ◽  
Flow Component ◽  
Lock In

The onset of the vortex-induced vibration (VIV) regime of a flexible cylinder inclined at$80^{\circ }$within a uniform current is studied by means of direct numerical simulations, at Reynolds number$500$based on the body diameter and inflow velocity magnitude. A range of values of the reduced velocity, defined as the inverse of the fundamental natural frequency, is examined in order to capture the emergence of the body responses and explore the concomitant reorganization of the flow and fluid forcing. Additional simulations at normal incidence confirm that the independence principle, which states that the system behaviour is determined by the normal inflow component, does not apply at such large inclination angle. Contrary to the normal incidence case, the free vibrations of the inclined cylinder arise far from the Strouhal frequency, i.e. the vortex shedding frequency downstream of a fixed rigid cylinder. The trace of the stationary body wake is found to persist beyond the vibration onset: the flow may still exhibit an oblique component that relates to the slanted vortex shedding pattern observed in the absence of vibration. This flow component which occurs close to the Strouhal frequency, at a high and incommensurable frequency compared to the vibration frequency, is referred to as Strouhal component; it induces a high-frequency component in fluid forcing. The vibration onset is accompanied by the appearance of novel, low-frequency components of the flow and fluid forcing which are synchronized with body motion. This second dominant flow component, referred to as lock-in component, is characterized by a parallel spatial pattern. The Strouhal and lock-in components of the flow coexist over a range of reduced velocities, with variable contributions, which results in a variety of mixed wake patterns. The transition from oblique to parallel vortex shedding that occurs during the amplification of the structural responses, is driven by the opposite trends of these two component contributions: the decrease of the Strouhal component magnitude associated with the progressive disappearance of the high-frequency force component, and simultaneously, the increase of the lock-in component magnitude, which dominates once the fully developed VIV regime is reached and the flow dynamics is entirely governed by wake–body synchronization.

A Linear Algebra Approach to the Analysis of Rigid Body Velocity From Position and Velocity Data

1983 ◽  
Vol 105 (2) ◽  
pp. 92-95 ◽  
Author(s):  
A. J. Laub ◽  
G. R. Shiflett
Keyword(s):  
Angular Velocity ◽  
Rigid Body ◽  
Matrix Theory ◽  
The Body ◽  
Instantaneous Velocity ◽  
Body Motion ◽  
Translational Velocity ◽  
Velocity Data ◽  
Algebra Approach ◽  
Body Velocity

The instantaneous velocity of a rigid body in space is characterized by an angular and translational velocity. By representing the angular velocity as a matrix and the translational component as a vector the velocity of any point in the rigid body may be found if the position of the point and the parameters of the angular and translational velocities are known. Alternatively, the parameters of the rigid body velocity may be determined if the velocity and position of three points fixed in the body are known. In this paper, a new matrix-theory-based method is derived for determining the instantaneous velocity parameters of rigid body motion in terms of the velocity and position of three noncollinear points fixed in the body. The method is shown to possess certain advantages over traditional vectoral solutions to the same problem.

scholarly journals SOME PROBLEMS ABOUT THE MOTION OF A RIGID BODY IN A RESISTIVE MEDIUM

2021 ◽  
Vol 3 (2) ◽  
pp. 6-17
Author(s):  
D. Leshchenko ◽  
◽  
T. Kozachenko ◽  
Keyword(s):  
Angular Velocity ◽  
Rigid Body ◽  
Modern Technology ◽  
Rigid Bodies ◽  
Rigid Body Motion ◽  
The Body ◽  
Body Motion ◽  
Body Rotation ◽  
Angular Velocity Vector ◽  
Resistive Medium

The dynamics of rotating rigid bodies is a classical topic of study in mechanics. In the eighteenth and nineteenth centuries, several aspects of a rotating rigid body motion were studied by famous mathematicians as Euler, Jacobi, Poinsot, Lagrange, and Kovalevskya. However, the study of the dynamics of rotating bodies of still important for aplications such as the dynamics of satellite-gyrostat, spacecraft, re-entry vehicles, theory of gyroscopes, modern technology, navigation, space engineering and many other areas. A number of studies are devoted to the dynamics of a rigid body in a resistive medium. The presence of the velocity of proper rotation of the rigid body leads to the apearance of dissipative torques causing the braking of the body rotation. These torques depend on the properties of resistant medium in which the rigid body motions occur, on the body shape, on the properties of the surface of the rigid body and the distribution of mass in the body and on the characters of the rigid body motion. Therefore, the dependence of the resistant torque on the orientation of the rigid body and its angular velocity can de quite complicated and requires consideration of the motion of the medium around the body in the general case. We confine ourselves in this paper to some simple relations that can qualitative describe the resistance to rigid body rotation at small angular velocities and are used in the literature. In setting up the equations of motion of a rigid body moving in viscous medium, we need to consider the nature of the resisting force generated by the motion of the rigid body. The evolution of rotations of a rigid body influenced by dissipative disturbing torques were studied in many papers and books. The problems of motion of a rigid body about fixed point in a resistive medium described by nonlinear dynamic Euler equations. An analytical solution of the problem when the torques of external resistance forces are proportional to the corresponding projections of the angular velocity of the rigid body is obtain in several works. The dependence of the dissipative torque of the resistant forces on the angular velocity vector of rotation of the rigid body is assumed to be linear. We consider dynamics of a rigid body with arbitrary moments of inertia subjected to external torques include small dissipative torques.

Comparison of In-the-Ear and Over-the-Ear Hearing Aid Fittings

1986 ◽  
Vol 51 (4) ◽  
pp. 362-369 ◽  
Author(s):  
Donna M. Risberg ◽  
Robyn M. Cox
Keyword(s):  
Hearing Aids ◽  
High Frequency ◽  
Comparative Evaluation ◽  
Speech Intelligibility ◽  
Hearing Aid ◽  
Hearing Aid Fitting ◽  
The Difference ◽  
Functional Gain ◽  
The Relationship

A custom in-the-ear (ITE) hearing aid fitting was compared to two over-the-ear (OTE) hearing aid fittings for each of 9 subjects with mild to moderately severe hearing losses. Speech intelligibility via the three instruments was compared using the Speech Intelligibility Rating (SIR) test. The relationship between functional gain and coupler gain was compared for the ITE and the higher rated OTE instruments. The difference in input received at the microphone locations of the two types of hearing aids was measured for 10 different subjects and compared to the functional gain data. It was concluded that (a) for persons with mild to moderately severe hearing losses, appropriately adjusted custom ITE fittings typically yield speech intelligibility that is equal to the better OTE fitting identified in a comparative evaluation; and (b) gain prescriptions for ITE hearing aids should be adjusted to account for the high-frequency emphasis associated with in-the-concha microphone placement.

Effect of Inner and Outer Wheels Driving Force Control on Small Electric Vehicle

2020 ◽  
Vol 17 (4) ◽  
pp. 8246-8254
Author(s):  
K. Shibazaki ◽  
H. Nozaki
Keyword(s):  
Control System ◽  
Angular Velocity ◽  
Electric Vehicle ◽  
Force Constant ◽  
Force Control ◽  
Driving Force ◽  
Vehicle Control ◽  
Steering Angle ◽  
Force Control System ◽  
The Difference

In this study, in order to improve steering stability during turning, we devised an inner and outer wheel driving force control system that is based on the steering angle and steering angular velocity, and verified its effectiveness via running tests. In the driving force control system based on steering angle, the inner wheel driving force is weakened in proportion to the steering angle during a turn, and the difference in driving force is applied to the inner and outer wheels by strengthening the outer wheel driving force. In the driving force control (based on steering angular velocity), the value obtained by multiplying the driving force constant and the steering angular velocity,  that differentiates the driver steering input during turning output as the driving force of the inner and outer wheels. By controlling the driving force of the inner and outer wheels, it reduces the maximum steering angle by 40 deg and it became possible to improve the cornering marginal performance and improve the steering stability at the J-turn. In the pylon slalom it reduces the maximum steering angle by 45 deg and it became possible to improve the responsiveness of the vehicle. Control by steering angle is effective during steady turning, while control by steering angular velocity is effective during sharp turning. The inner and outer wheel driving force control are expected to further improve steering stability.

Our Bodies, Whose Property?

2013 ◽  
Author(s):  
Anne Phillips
Keyword(s):  
Labor Markets ◽  
Personal Autonomy ◽  
The Body ◽  
Body Parts ◽  
Complex Issue ◽  
Human Organs ◽  
Property Owners ◽  
The Common ◽  
The Difference ◽  
The Right

No one wants to be treated like an object, regarded as an item of property, or put up for sale. Yet many people frame personal autonomy in terms of self-ownership, representing themselves as property owners with the right to do as they wish with their bodies. Others do not use the language of property, but are similarly insistent on the rights of free individuals to decide for themselves whether to engage in commercial transactions for sex, reproduction, or organ sales. Drawing on analyses of rape, surrogacy, and markets in human organs, this book challenges notions of freedom based on ownership of our bodies and argues against the normalization of markets in bodily services and parts. The book explores the risks associated with metaphors of property and the reasons why the commodification of the body remains problematic. The book asks what is wrong with thinking of oneself as the owner of one's body? What is wrong with making our bodies available for rent or sale? What, if anything, is the difference between markets in sex, reproduction, or human body parts, and the other markets we commonly applaud? The book contends that body markets occupy the outer edges of a continuum that is, in some way, a feature of all labor markets. But it also emphasizes that we all have bodies, and considers the implications of this otherwise banal fact for equality. Bodies remind us of shared vulnerability, alerting us to the common experience of living as embodied beings in the same world. Examining the complex issue of body exceptionalism, the book demonstrates that treating the body as property makes human equality harder to comprehend.

Theory-Practice Gap: The Experiences of Nigerian Nursing Students

2018 ◽  
Vol 20 (1) ◽  
Author(s):  
Titilayo Dorothy Odetola ◽  
Olusola Oluwasola ◽  
Christoph Pimmer ◽  
Oluwafemi Dipeolu ◽  
Samson Oluwayemi Akande ◽  
...  
Keyword(s):  
Clinical Practice ◽  
Nursing Students ◽  
Developing Country ◽  
The Body ◽  
Clinical Staff ◽  
Clinical Settings ◽  
Practice Gap ◽  
The Difference ◽  
Analyse Data ◽  
Theory Practice Gap

The “disconnect” between the body of knowledge acquired in classroom settings and the application of this knowledge in clinical practice is one of the main reasons for professional fear, anxiety and feelings of incompetence among freshly graduated nurses. While the phenomenon of the theory-to-practice gap has been researched quite extensively in high-income country settings much less is known about nursing students’ experiences in a developing country context. To rectify this shortcoming, the qualitative study investigated the experiences of nursing students in their attempt to apply what they learn in classrooms in clinical learning contexts in seven sites in Nigeria. Thematic content analysis was used to analyse data gained from eight focus group discussions (n = 80) with the students. The findings reveal a multifaceted theory-practice gap which plays out along four tensions: (1) procedural, i.e. the difference between practices from education institutions and the ones enacted in clinical wards – and contradictions that emerge even within one clinical setting; (2) political, i.e. conflicts that arise between students and clinical staff, especially personnel with a lower qualification profile than the degree that students pursue; (3) material, i.e. the disconnect between contemporary instruments and equipment available in schools and the lack thereof in clinical settings; and (4) temporal, i.e. restricted opportunities for supervised practice owing to time constraints in clinical settings in which education tends to be undervalued. Many of these aspects are linked to and aggravated by infrastructural limitations, which are typical for the setting of a developing country. Nursing students need to be prepared regarding how to deal with the identified procedural, political, material and temporal tensions before and while being immersed in clinical practice, and, in so doing, they need to be supported by educationally better qualified clinical staff.

Perbedaan Penggunaan Antikoagulan K2EDTA DAN K3EDTA Terhadap Hasil Pemeriksaan Indeks Eritrosit

2018 ◽  
Vol 1 (2) ◽  
pp. 114
Author(s):  
Wahdaniah Wahdaniah ◽  
Sri Tumpuk
Keyword(s):  
Screening Test ◽  
Venous Blood ◽  
The Body ◽  
Ethylene Diamine ◽  
P Value ◽  
Cross Sectional ◽  
Significant Difference ◽  
Ethylene Diamine Tetra Acetate ◽  
The Difference ◽  
Index Value

Abstract: Routine blood examination is the earliest blood test or screening test to determine the diagnosis of an abnormality. Blood easily froze if it is outside the body and can be prevented by the addition of anticoagulants, one of which Ethylene Diamine Tetra Acetate (EDTA). Currently available vacuum tubes containing EDTA anticoagulants in the form of K2EDTA and K3EDTA. K3EDTA is usually a salt that has better stability than other EDTA salts because it shows a pH approaching a blood pH of about 6.4. The purpose of this research is to know the difference of erythrocyte index results include MCH, MCV and MCHC using K3EDTA anticoagulant with K2EDTA. This research is a cross sectional design. This study used venous blood samples mixed with K2EDTA anticoagulant and venous blood mixed with K3EDTA anticoagulants, each of 30 samples. Data were collected and analyzed using paired different test. Based on data analysis that has been done on MCH examination, p value <0,05 then there is a significant difference between samples with K3EDTA anticoagulant with K2EDTA to erythrocyte index value. Then on the examination of MCV and MCHC obtained p value <0.05 then there is no significant difference between samples with K3EDTA anticoagulant with K2EDTA to erythrocyte index value.Abstrak: Pemeriksaan darah rutin merupakan pemeriksaan darah yang paling awal atau screening test untuk mengetahui diagnosis suatu kelainan. Darah mudah membeku jika berada diluar tubuh dan bisa dicegah dengan penambahan antikoagulan, salah satunya Ethylene Diamine Tetra Acetate (EDTA). Dewasa ini telah tersedia tabung vakum yang sudah berisi antikoagulan EDTA dalam bentuk  K2EDTA dan  K3EDTA. K3EDTA  biasanya berupa garam yang mempunyai stabilitas yang lebih baik dari garam EDTA yang lain karena menunjukkan pH yang mendekati pH darah yaitu sekitar 6,4. Tujuan dari penelitian ini adalah untuk mengetahui perbedaan hasil indeks eritrosit meliputi MCH, MCV dan MCHC menggunakan antikoagulan K3EDTA dengan K2EDTA. Penelitian ini merupakan penelitian dengan desain cross sectional. Penelitian ini menggunakan sampel darah vena yang dicampur dengan antikoagulan K2EDTA dan darah vena yang dicampur dengan antikoagulan K3EDTA, masing-masing sebanyak 30 sampel. Data dikumpulkan dan dianalisis menggunakan uji beda berpasangan. Berdasarkan analisis data yang telah dilakukan pada pemeriksaan MCH didapatkan nilai p < 0,05 maka ada perbedaan yang signifikan antara sampel dengan antikoagulan K3EDTA dengan K2EDTA terhadap nilai indeks eritrosit. Kemudian pada pemeriksaan MCV dan MCHC didapatkan nilai p < 0,05 maka tidak ada perbedaan yang signifikan antara sampel dengan antikoagulan K3EDTA dengan K2EDTA terhadap nilai indeks eritrosit.

Effect of Sample Storage Conditions on Body Burden Analysis of Organic Contaminants in Unionid Mussels

1992 ◽  
Vol 27 (4) ◽  
pp. 833-844 ◽  
Author(s):  
Micheline Hanna
Keyword(s):  
Organic Contaminants ◽  
Body Burden ◽  
Storage Conditions ◽  
The Body ◽  
Sample Storage ◽  
Pcb Congeners ◽  
Unionid Mussels ◽  
Group A ◽  
The Difference ◽  
Group B

Abstract In order to quantitatively assess the effect of sample storage conditions on the body burden analysis of organic contaminants, a comparative analysis was carried out on the unionid mussel Elliptic complanata. The mussels were divided into two groups, each with distinct storage conditions, while Group A was kept in the freezer at −20°C, Group B was kept in the refrigerator for five days at 5°C. All the compounds present in the control were also present in Group B samples. Analysis of the organic contaminants in each of these two groups showed that for total PCB concentrations, the two treatments were not significantly different; however when compared individually 6 of the 13 PCB congeners showed significant differences. The observed differences were relatively small for individual PCB congeners (7.1 to 15.3%), higher for chlorobenzenes (10.5 to 36.4%), and yet higher for HCE (44.1%); the difference for HCE, although large is nevertheless not significant, even if only marginally so.

Sign in / Sign up

Export Citation Format

Share Document