Movement paths in operating hand-held tools: tests of distal-shift hypotheses

2013 ◽  
Vol 109 (11) ◽  
pp. 2680-2690 ◽  
Author(s):  
Sandra Sülzenbrück ◽  
Herbert Heuer
Keyword(s):  
Boundary Conditions ◽  
Visual Feedback ◽  
The Body ◽  
Hand Movements ◽  
First Order ◽  
Dynamic Transformation ◽  
Movement Characteristics ◽  
Effective Part

Extending the body with a tool could imply that characteristics of hand movements become characteristics of the movement of the effective part of the tool. Recent research suggests that such distal shifts are subject to boundary conditions. Here we propose the existence of three constraints: a strategy constraint, a constraint of movement characteristics, and a constraint of mode of control. We investigate their validity for the curvature of transverse movements aimed at a target while using a sliding first-order lever. Participants moved the tip of the effort arm of a real or virtual lever to control a cursor representing movements of the tip of the load arm of the lever on a monitor. With this tool, straight transverse hand movements are associated with concave curvature of the path of the tip of the tool. With terminal visual feedback and when targets were presented for the hand, hand paths were slightly concave in the absence of the dynamic transformation of the tool and slightly convex in its presence. When targets were presented for the tip of the lever, both the concave and convex curvatures of the hand paths became stronger. Finally, with continuous visual feedback of the tip of the lever, curvature of hand paths became convex and concave curvature of the paths of the tip of the lever was reduced. In addition, the effect of the dynamic transformation on curvature was attenuated. These findings support the notion that distal shifts are subject to at least the three proposed constraints.

Analysis of the First Order and Slowly Varying Motions of an Axisymmetric Floating Body in Bichromatic Waves

2013 ◽  
Vol 135 (1) ◽  
Author(s):  
João Pessoa ◽  
Nuno Fonseca ◽  
C. Guedes Soares
Keyword(s):  
Vertical Cylinder ◽  
Vertical Axis ◽  
Second Order ◽  
The Body ◽  
Floating Body ◽  
Drift Motion ◽  
First Order ◽  
Motion Responses ◽  
Simple Geometry ◽  
Good Agreement

The paper presents an experimental and numerical investigation on the motions of a floating body of simple geometry subjected to harmonic and biharmonic waves. The experiments were carried out in three different water depths representing shallow and deep water. The body is axisymmetric about the vertical axis, like a vertical cylinder with a rounded bottom, and it is kept in place with a soft mooring system. The experimental results include the first order motion responses, the steady drift motion offset in regular waves and the slowly varying motions due to second order interaction in biharmonic waves. The hydrodynamic problem is solved numerically with a second order boundary element method. The results show a good agreement of the numerical calculations with the experiments.

scholarly journals Actions, topological terms and boundaries in first-order gravity: A review

2016 ◽  
Vol 25 (04) ◽  
pp. 1630011 ◽  
Author(s):  
Alejandro Corichi ◽  
Irais Rubalcava-García ◽  
Tatjana Vukašinac
Keyword(s):  
Boundary Conditions ◽  
Symplectic Structure ◽  
Equations Of Motion ◽  
Hamiltonian Formalism ◽  
Action Principle ◽  
Internal Boundary ◽  
Four Dimensions ◽  
First Order ◽  
Conserved Charges ◽  
Boundary Terms

In this review, we consider first-order gravity in four dimensions. In particular, we focus our attention in formulations where the fundamental variables are a tetrad [Formula: see text] and a [Formula: see text] connection [Formula: see text]. We study the most general action principle compatible with diffeomorphism invariance. This implies, in particular, considering besides the standard Einstein–Hilbert–Palatini term, other terms that either do not change the equations of motion, or are topological in nature. Having a well defined action principle sometimes involves the need for additional boundary terms, whose detailed form may depend on the particular boundary conditions at hand. In this work, we consider spacetimes that include a boundary at infinity, satisfying asymptotically flat boundary conditions and/or an internal boundary satisfying isolated horizons boundary conditions. We focus on the covariant Hamiltonian formalism where the phase space [Formula: see text] is given by solutions to the equations of motion. For each of the possible terms contributing to the action, we consider the well-posedness of the action, its finiteness, the contribution to the symplectic structure, and the Hamiltonian and Noether charges. For the chosen boundary conditions, standard boundary terms warrant a well posed theory. Furthermore, the boundary and topological terms do not contribute to the symplectic structure, nor the Hamiltonian conserved charges. The Noether conserved charges, on the other hand, do depend on such additional terms. The aim of this manuscript is to present a comprehensive and self-contained treatment of the subject, so the style is somewhat pedagogical. Furthermore, along the way, we point out and clarify some issues that have not been clearly understood in the literature.

Boundaries Influence on the Flow Field Around an Oscillating Sphere

2013 ◽  
Author(s):  
Domenica Mirauda ◽  
Antonio Volpe Plantamura ◽  
Stefano Malavasi
Keyword(s):  
Free Surface ◽  
Flow Field ◽  
Boundary Conditions ◽  
Damping Ratio ◽  
Water Channel ◽  
Open Water ◽  
Free Surface Flows ◽  
The Body ◽  
Sphere Diameter ◽  
Oscillating Sphere

This work analyzes the effects of the interaction between an oscillating sphere and free surface flows through the reconstruction of the flow field around the body and the analysis of the displacements. The experiments were performed in an open water channel, where the sphere had three different boundary conditions in respect to the flow, defined as h* (the ratio between the distance of the sphere upper surface from the free surface and the sphere diameter). A quasi-symmetric condition at h* = 2, with the sphere equally distant from the free surface and the channel bottom, and two conditions of asymmetric bounded flow, one with the sphere located at a distance of 0.003m from the bottom at h* = 3.97 and the other with the sphere close to the free surface at h* = 0, were considered. The sphere was free to move in two directions, streamwise (x) and transverse to the flow (y), and was characterized by values of mass ratio, m* = 1.34 (ratio between the system mass and the displaced fluid mass), and damping ratio, ζ = 0.004. The comparison between the results of the analyzed boundary conditions has shown the strong influence of the free surface on the evolution of the vortex structures downstream the obstacle.

ANOMALY FREE SUPERGRAVITY IN D=10: I) THE BIANCHI IDENTITIES AND THE BOSONIC LAGRANGIAN

1988 ◽  
Vol 03 (04) ◽  
pp. 953-1021 ◽  
Author(s):  
RICCARDO D’AURIA ◽  
PIETRO FRÉ ◽  
MARIO RACITI ◽  
FRANCO RIVA
Keyword(s):  
Differential Equation ◽  
Boundary Conditions ◽  
Variational Equation ◽  
Second Order ◽  
Effective Theory ◽  
Spin Connection ◽  
Bianchi Identities ◽  
First Order ◽  
Interaction Terms ◽  
Starting Point

Using a theorem by Bonora-Pasti and Tonin on the existence of a solution for D=10N=1 Bianchi identities in the presence of a Lorentz Chern Simons term, we find an explicit parametrization of the superspace curvatures. Our solution depends only on one free parameter which can be reabsorbed in a field redefinition of the dilaton and of the gravitello. We emphasize that the essential point which enables us to obtain a closed form for the curvature parametrizations and hence for the supersymmetry transformation rules is the use of first order formalism. The spin connection is known once the torsion is known. This latter, rather than being identified with Hµνρ as it is usually done in the literature, is related to it by a differential equation which reduces to the algebraic relation Hµνρ = - 3Tµνρ e4/3σ only at γ1=0 (γ1 being proportional to κ/g2). The solution of the Bianchi identities exhibited in this paper corresponds to a D=10 anomaly free supergravity (AFS). This theory is unique in first order formalism but corresponds to various theories in second order formalism. Indeed the torsion equation is a differential equation which, in order to be solved must be supplemented with boundary conditions. One wonders whether supplemented with a judicious choice of boundary conditions for the torsion equation, AFS yields all the interaction terms found in the effective theory of the heterotic string (ETHS). In this respect two remarks are in order. Firstly it appears that solving the torsion equation iteratively with Tµνρ = -1/3Hµνρ e-4/3σ as starting point all the terms of ETHS except those with a ζ(3) coefficient show up. (Whether the coefficient agree is still to be checked.) Secondly, as shown in this paper the rheonomic solution of the super Poincaré Bianchi identities is unique. Hence additional interaction terms can be added to the Lagrangian only by modifying the rheonomic parametrization of the [Formula: see text]-curvature. The only assumption made in our paper is that [Formula: see text] has at most ψ∧ψ∧V components (sector (1,2)). Correspondingly the only room left for a modification of the present theory is the addition of a (0, 3) part in the rheonomic parametrization of [Formula: see text]. When this work was already finished a conjecture was published by Lechner Pasti and Tonin that such a generalization of AFS might exist and be responsible for the ζ(3) missing term. Indeed if we were able to solve the [Formula: see text]-Bianchi with this new (0, 3)-part then the torsion equation would be modified via new terms which, in second order formalism, lead to additional gravitational interactions. The equation of motion of Anomaly Free Supergravity can be worked out from the Bianchi identities: we indicate through which steps. The corresponding Lagrangian could be constructed with the standard procedures of the rheonomy approach. In this paper we limit ourselves to the bosonic sector of such a Lagrangian and we show that it can indeed be constructed in such a way as to produce the relation between Hµνρ and Tµνρ as a variational equation.

Application of Generalized Differential Quadrature Method to the Bending of Thick Laminated Plates with Various Boundary Conditions

2006 ◽  
Vol 5-6 ◽  
pp. 407-414 ◽  
Author(s):  
Mohammad Mohammadi Aghdam ◽  
M.R.N. Farahani ◽  
M. Dashty ◽  
S.M. Rezaei Niya
Keyword(s):  
Boundary Condition ◽  
Boundary Conditions ◽  
Simple Procedure ◽  
Shear Deformation Theory ◽  
Laminated Plates ◽  
Differential Quadrature ◽  
Governing Equations ◽  
First Order ◽  
Various Boundary Conditions ◽  
Generalized Differential

Bending analysis of thick laminated rectangular plates with various boundary conditions is presented using Generalized Differential Quadrature (GDQ) method. Based on the Reissner first order shear deformation theory, the governing equations include a system of eight first order partial differential equations in terms of unknown displacements, forces and moments. Presence of all plate variables in the governing equations provide a simple procedure to satisfy different boundary condition during application of GDQ method to obtain accurate results with relatively small number of grid points even for plates with free edges .Illustrative examples including various combinations of clamped, simply supported and free boundary condition are given to demonstrate the accuracy and convergence of the presented GDQ technique. Results are compared with other analytical and finite element predictions and show reasonably good agreement.

scholarly journals Mechanism Design and Experiment of a Bionic Turtle Dredging Robot

Machines ◽  
2021 ◽  
Vol 9 (5) ◽  
pp. 86
Author(s):  
Tao Wang ◽  
Zhuo Wang ◽  
Bo Zhang
Keyword(s):  
Mechanism Design ◽  
Control Function ◽  
The Body ◽  
Fish Ponds ◽  
Motion Stability ◽  
Experimental Prototype ◽  
Underwater Environment ◽  
Movement Characteristics ◽  
Movement Sequence ◽  
Movement Stability

In order to clean underwater silt in artificially constructed rivers, lakes, and fish ponds, for which no suitable tool exists, a tool has been developed that imitates the structure and movement of the tortoise’s legs, and designs a four-legged dredging robot that can adapt to the complex underwater environment. The article uses the transformation matrix to analyze the kinematics of the dredging robot, determines the movement sequence of the outriggers according to the principle of stability, and analyzes the movement characteristics of the three gait modes. Then, we combined the control function of the foot trajectory with the experimental prototype based on the bionic tortoise mechanism to carry out a walking experiment. During the experiment, the motion stability is good. Additionally, the changes in the position, the posture of the outriggers, and the body prove that the movement stability of the dredging robot using coordinated gait, mixed gait, and intermittent gait has increased sequentially.

Numerical Solution of a Hydrofoil Moving Near an Interface

1996 ◽  
Vol 40 (04) ◽  
pp. 269-277
Author(s):  
G. X. Wu ◽  
T. Miloh ◽  
G. Zilman
Keyword(s):  
Boundary Conditions ◽  
Numerical Solution ◽  
Body Surface ◽  
Iteration Scheme ◽  
The Body ◽  
Two Fluids ◽  
Linearized Theory

The problem of a hydrofoil moving near an interface of two fluids of different densities is analyzed. An iteration scheme is proposed which imposes the boundary conditions on the body surface and on the interface alternately. The numerical solution is obtained by using the linearized theory and a Glauert-type expansion for the vortex distribution. Results are provided for various cases with different densities and different speeds.

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