We use the distribution of accreted stars in Sloan Digital Sky Survey-Gaia DR2 to demonstrate that a nontrivial fraction of the dark matter halo within galactocentric radii of 7.5-10 kpc and is in ...substructure and thus may not be in equilibrium. Using a mixture likelihood analysis, we separate the contributions of an old, isotropic stellar halo and a younger anisotropic population. The latter dominates and is uniform within the region studied. It can be explained as the tidal debris of a disrupted massive satellite on a highly radial orbit and is consistent with mounting evidence from recent studies. Simulations that track the tidal debris from such mergers find that the dark matter traces the kinematics of its stellar counterpart. If so, our results indicate that a component of the nearby dark matter halo that is sourced by luminous satellites is in kinematic substructure referred to as debris flow. These results challenge the Standard Halo Model, which is discrepant with the distribution recovered from the stellar data, and have important ramifications for the interpretation of direct detection experiments.
Despite the rise of development in continuum manipulator technology and application, a model-based feedback closed-loop control appropriate for continuum robot designs has remained a significant ...challenge. Complicated by the soft and flexible nature of the manipulator body, control of continuum structures with infinite dimensions proves to be difficult due to their complex dynamics. In this article, a novel strategy is designed for trajectory control of a multisection continuum robot in three-dimensional space to achieve accurate orientation, curvature, and section length tracking. The formulation connects the continuum manipulator dynamic behavior to a virtual discrete-jointed robot whose degrees of freedom are directly mapped to those of a continuum robot section under the hypothesis of constant curvature. Based on this connection, a computed torque control architecture is developed for the virtual robot, for which kinematics and dynamic equations are constructed and exploited, with appropriate transformations developed for implementation on the continuum robot. The control algorithm is implemented on a six degree-of-freedom two-section OctArm continuum manipulator. Experiments show that the proposed method could manage simultaneous extension/contraction, bending, and torsion actions on multisection continuum robots with decent performance (arc length and curvature error of ±4 mm and ±0.35 m -1 ). The designed dynamic controller can reduce the curvature tracking error and rise time by up to 48.1% and 94.8% compared to the traditional proportional-integral-derivative controller during two-section maneuvers.
Dislocation is the most common reason for early failure in total hip replacements (THRs) and occurs following impingement. Impingement is the unwanted contact between either the component and/or bone ...around the THR. This thesis investigates the effect of factors such as patient bony anatomy, patient activity and cup orientation on impingement likelihood and severity to provide an understanding of how these factors and their interplay may be used to reduce impingement in THRs. Geometric models were developed of bony geometries from different subjects so that variation in anatomy affecting impingement could be investigated, these were implanted with THRs. Kinematic datasets from different subjects were applied to the models to investigate the effects of subject activity and cup orientation. An in vitro simulator study was carried out which developed kinematic activity data for use in a hip simulator to investigate the consequences of impingement damage. Variation in bony anatomy, patient activity and cup orientation affected the likelihood and severity of impingement. The anterior inferior iliac spine and anteversion angle of the natural acetabulum significantly affected impingement outcomes and could be used to predict bone-on-bone impingement. The variation in subject's kinematic data resulted in varying impingement occurrences at different cup orientations. This suggests that clinically recommended implantation positions should be patient-specific. A hip simulator test was developed which applied clinically-relevant motions and loads to generate impingement damage and compared three subject's squat activities. Findings correlated with geometric model predictions. The variation in individual subject bone and motion suggest a subject-specific impingement-free range of motion, therefore to minimise impingement and potential dislocation, implantation targets for component orientation should be patient-specific. The methods developed in this thesis could be developed for a preoperative planning tool and aid the design of new implants by providing clinically relevant tools to assess for impingement.
Open cluster kinematics with Gaia DR2 Soubiran, C.; Cantat-Gaudin, T.; Romero-Gómez, M. ...
Astronomy and astrophysics (Berlin),
11/2018, Letnik:
619
Journal Article
Recenzirano
Odprti dostop
Context. Open clusters are very good tracers of the evolution of the Galactic disc. Thanks to Gaia, their kinematics can be investigated with an unprecedented precision and accuracy. Aims. The ...distribution of open clusters in the 6D phase space is revisited with Gaia DR2. Methods. The weighted mean radial velocity of open clusters was determined, using the most probable members available from a previous astrometric investigation that also provided mean parallaxes and proper motions. Those parameters, all derived from Gaia DR2 only, were combined to provide the 6D phase-space information of 861 clusters. The velocity distribution of nearby clusters was investigated, as well as the spatial and velocity distributions of the whole sample as a function of age. A high-quality subsample was used to investigate some possible pairs and groups of clusters sharing the same Galactic position and velocity. Results. For the high-quality sample of 406 clusters, the median uncertainty of the weighted mean radial velocity is 0.5 km s−1. The accuracy, assessed by comparison to ground-based high-resolution spectroscopy, is better than 1 km s−1. Open clusters nicely follow the velocity distribution of field stars in the close solar neighbourhood as previously revealed by Gaia DR2. As expected, the vertical distribution of young clusters is very flat, but the novelty is the high precision to which this can be seen. The dispersion of vertical velocities of young clusters is at the level of 5 km s−1. Clusters older than 1 Gyr span distances to the Galactic plane of up to 1 kpc with a vertical velocity dispersion of 14 km s−1, typical of the thin disc. Five pairs of clusters and one group with five members might be physically related. Other binary candidates that have been identified previously are found to be chance alignments.
Due to strongly coupled nonlinearities of the grasped dual-arm robot and the internal forces generated by grasped objects, the dual-arm robot control with uncertain kinematics and dynamics raises a ...challenging problem. In this paper, an adaptive fuzzy control scheme is developed for a dual-arm robot, where an approximate Jacobian matrix is applied to address the uncertain kinematic control, while a decentralized fuzzy logic controller is constructed to compensate for uncertain dynamics of the robotic arms and the manipulated object. Also, a novel finite-time convergence parameter adaptation technique is developed for the estimation of kinematic parameters and fuzzy logic weights, such that the estimation can be guaranteed to converge to small neighborhoods around their ideal values in a finite time. Moreover, a partial persistent excitation property of the Gaussian-membership-based fuzzy basis function was established to relax the conventional persistent excitation condition. This enables a designer to reuse these learned weight values in the future without relearning. Extensive simulation studies have been carried out using a dual-arm robot to illustrate the effectiveness of the proposed approach.
ABSTRACT
We present a new set of galaxy scaling relations for the relative mass content of atomic gas, molecular gas, and stars. Such relations are driven by disc gravitational instability, and ...originate from the low galaxy-to-galaxy variance of Toomre’s Q stability parameter. We test such relations using more than 100 galaxies, from massive spirals to dwarf irregulars, thus spanning several orders of magnitude in stellar mass ($M_{\star }\approx 10^{6\rm {-}11}\, \mbox{M}_{\odot }$) and atomic gas mass ($M_{\rm{H\, \small {I}}}\approx 10^{7\rm {-}10.5}\, \mbox{M}_{\odot }$). Such tests demonstrate (i) that our scaling relations are physically motivated and tightly constrained, (ii) that the mass-averaged gravitational instability properties of galaxy discs are remarkably uniform across the sequence Sa–dIrr, and (iii) that specific angular momentum plays an important role in such a scenario. Besides providing new insights into a very important topic in galaxy evolution, this work provides a simple formula (equation 5) that one can use for generating other galaxy relations driven by disc instability. We explain how to do that, mention a few possible applications, and stress the importance of testing our approach further.
ABSTRACT
In this work, we combine spectroscopic information from the SkyMapper survey for Extremely Metal-Poor stars and astrometry from Gaia DR2 to investigate the kinematics of a sample of 475 ...stars with a metallicity range of $-6.5 \le \rm Fe/H \le -2.05$ dex. Exploiting the action map, we identify 16 and 40 stars dynamically consistent with the Gaia Sausage and Gaia Sequoia accretion events, respectively. The most metal poor of these candidates have metallicities of $\rm Fe/H=-3.31\, \mathrm{ and }\, -3.74$, respectively, helping to define the low-metallicity tail of the progenitors involved in the accretion events. We also find, consistent with other studies, that ∼21 per cent of the sample have orbits that remain confined to within 3 kpc of the Galactic plane, that is, |Zmax| ≤ 3 kpc. Of particular interest is a subsample (∼11 per cent of the total) of low |Zmax| stars with low eccentricities and prograde motions. The lowest metallicity of these stars has Fe/H = –4.30 and the subsample is best interpreted as the very low-metallicity tail of the metal-weak thick disc population. The low |Zmax|, low eccentricity stars with retrograde orbits are likely accreted, while the low |Zmax|, high eccentricity pro- and retrograde stars are plausibly associated with the Gaia Sausage system. We find that a small fraction of our sample (∼4 per cent of the total) is likely escaping from the Galaxy, and postulate that these stars have gained energy from gravitational interactions that occur when infalling dwarf galaxies are tidally disrupted.
Inverse kinematics (IK) is the use of kinematic equations to determine the joint parameters of a manipulator so that the end effector moves to a desired position; IK can be applied in many areas, ...including robotics, engineering, computer graphics and video games. In this survey, we present a comprehensive review of the IK problem and the solutions developed over the years from the computer graphics point of view. The paper starts with the definition of forward and IK, their mathematical formulations and explains how to distinguish the unsolvable cases, indicating when a solution is available. The IK literature in this report is divided into four main categories: the analytical, the numerical, the data‐driven and the hybrid methods. A timeline illustrating key methods is presented, explaining how the IK approaches have progressed over the years. The most popular IK methods are discussed with regard to their performance, computational cost and the smoothness of their resulting postures, while we suggest which IK family of solvers is best suited for particular problems. Finally, we indicate the limitations of the current IK methodologies and propose future research directions.
Inverse kinematics (IK) is the use of kinematic equations to determine the joint parameters of a manipulator so that the end effector moves to a desired position; IK can be applied in many areas, including robotics, engineering, computer graphics and video games. In this survey, we present a comprehensive review of the IK problem and the solutions developed over the years from the computer graphics point of view. The paper starts with the definition of forward and IK, their mathematical formulations and explains how to distinguish the unsolvable cases, indicating when a solution is available.
The origin of the Gaia phase-plane spiral Binney, James; Schönrich, Ralph
Monthly notices of the Royal Astronomical Society,
12/2018, Letnik:
481, Številka:
2
Journal Article
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