Search

An analysis of the influence of inertia forces and ponderomotive forces on the destabilization of the flow of viscous fluids in the hydrodynamic initial section is given. Cases of flow of viscous, anomalously viscous and electrically conductive liquids are considered; the degree of influence of mass forces on the destabilization of the flow is estimated. As applied to the flow in the hydrodynamic initial section, the degree of influence of inertia forces from convective acceleration and forces with a magnetic nature can be different. Inertia forces stimulate the accelerated movement of the fluid, and in the case of forces with a magnetic nature, ponderomotive forces contribute to deceleration, which is confirmed by the results of studies of the velocity field. Recommendations are given for calculating the length of the hydrodynamic initial section in the presence of mass forces with different nature. [ABSTRACT FROM AUTHOR]

The article focuses on the incidental learning of mechanical principles that occurs on playgrounds. Many children experience principles of mechanics long before their first formal exposure in a science class. On the playground, they experience translatory and rotary motion, forces such as gravity, and attempts to overcome gravity with muscular effort. These efforts result in work and the expenditure of energy. Playing on swings, merry-go-rounds, slides, and teeter-totters helps children understand concepts illustrated by Newton's laws of motion. Unknowingly, they learn about inertia, acceleration, ground reaction forces, and leverage.

Due to the influence of air currents and the control of the platform's own power system, acceleration is often present in the motion platform equipped with synthetic aperture radar (SAR) system, which causes the actual trajectory of the platform to be curved. When the acceleration is large or the azimuth accumulation time is long, a large envelope error or phase error will be caused. This problem will be more obvious in highly squint mode SAR. On the other hand, the acceleration may also cause the situation where the absolute value of the Doppler frequency rate is extremely small, resulting in the azimuthal time-bandwidth product that is too small to satisfy the requirements of the stationary phase principle. To solve the above problems, a novel acceleration compensation method based on inertial navigation information is proposed in this article. By integrating the acceleration and velocity information provided by the inertial navigation system, the position information of maneuvering platform is obtained. Then the actual trajectory of the platform is constructed. On this basis, the envelope and phase errors caused by the acceleration are estimated. The results of real data processing verify the correctness of the analysis and the effectiveness of the proposed method. [ABSTRACT FROM AUTHOR]

Galileo proposed what has been called a proto-inertial principle, according to which a body in horizontal motion will conserve its motion. This statement is only true in counterfactual circumstances where no impediments are present. This article analyzes how Galileo could have been justified in ascribing definite properties to this idealized motion. This analysis is then used to better understand the relation of Galileo's proto-inertial principle to the classical inertial principle. [ABSTRACT FROM AUTHOR]

The test of moment of inertia has a wide range of applications in aerospace, vehicle engineering, precision machinery, motors and other fields, moment of inertia directly affects the reliability and performance of components or equipment, it is very essential to test the moment of inertia. By analyzing the principle of moment of inertia test, we could come to the conclusion that the theoretical value, the inertia of the disk, the period of the torsion swing of the standard body and the period of the empty disk of the moment of inertia and the moment of inertia of the standard body. By analyzing the measurement error, position error and damping during the test, we could reach the following conclusion that the test accuracy of the moment of inertia can reach 0.1%. [ABSTRACT FROM AUTHOR]

The analysis of electromagnetic forming has been extended to allow for an approximate evaluation of axial inertia, strain rate and temperature effects. Good agreement is obtained with published measurements of time varying displacement and velocity. [ABSTRACT FROM AUTHOR]

We show that the uniformly accelerated reference systems proposed by Einstein when introducing acceleration in the theory of relativity are what is known at present as Fermi–Walker coordinate systems. We then consider more general accelerated motions and, on the one hand we obtain Thomas precession and, on the other, we prove that the only accelerated reference systems that at any time admit an instantaneously comoving inertial system belong necessarily to the Fermi–Walker class. [ABSTRACT FROM AUTHOR]

This paper presents the balancing control performance of a mobile manipulator built in the laboratory as a service robot called Korean robot worker (KOBOKER). The robot is designed and implemented with two wheels as a mobile base and two arms with six degrees-of-freedom each. Kinematics and dynamics of the robot are analyzed. For the balancing control performance, two wheels are controlled independently by the time-delayed control method based on the inertia model of the robot. The acceleration information obtained directly from the sensor is used for the modified disturbance observer structure called an acceleration-based disturbance observer (AbDOB). Experimental studies of the balancing control of the robot are conducted to compare the control performances by both a PID control method and an AbDOB. [ABSTRACT FROM AUTHOR]

Wheel force transducer/sensor (WFT) is an effective instrument in automotive testing field to directly measure the wheel forces and moments under dynamic conditions. As a large-range load sensor mounted on the wheel, there are added inertial effect and rotational couplings that will greatly decrease the sensor accuracy, but they can hardly be eliminated by the conventional calibration with the standard loading devices. In this paper, the motion-force decoupling technique is proposed to address this problem. An improved wheel force sensor system is developed by integrating the force-sensing unit, the angle encoder, and an inertial measurement unit. The motion signals including the angle, angular rates and accelerations are used to compute the actual loads and compensate the errors of force measurement in rotating state of the wheel. Experiments are performed to verify the proposed approaches and calibrate the system. Road test also indicates that the sensor can be successfully used in practice to get more reasonable wheel loads. [ABSTRACT FROM AUTHOR]

There have been several articles in literature that study the spectral behaviour of special classes of matrices such as the matrices based on power functiongiven by the matrices, the matricesfor positive values ofrand positive real numbers. Bhatia and Jain in 2015 and Dyn, Goodman and Micchelli in 1986 have studied the spectral behaviour ofand, respectively, for all real values ofr. The power functionis operator monotone whenand operator convex when. It is natural to study the inertia of all these matrices when the power function is replaced by any operator monotone or operator convex function. In the present work, inertia of the matricesandis discussed for non-negative operator monotone and operator convex functionf, which further leads to many known and new results. [ABSTRACT FROM AUTHOR]

SUMMARY The use of linear motors has been rapidly increasing in recent years in response to the rising demand for drive mechanisms with higher speed and acceleration to improve the throughput of semiconductor production equipment, machine tools, and so on. In this study, we have developed a new type of linear motor with an opposed magnetic pole structure and twin movers. To achieve higher acceleration of a linear motor, it is necessary to satisfy both large thrust and low inertia. In our proposed new type linear motor, the thrust is improved by increasing the facing area between the permanent magnets and magnetic pole teeth by using multistage movers. Furthermore, the magnetic leakage flux is reduced by multiplexing the magnetic flux path. In a short stroke (approximately 210 mm) drive, the high acceleration of 1670 m/s2 and maximum velocity of 14.2 m/s is demonstrated using a prototype linear motor (maximum thrust = 25 kN). [ABSTRACT FROM AUTHOR]

Large inertia load has been widely used in space driving mechanisms, but the research concerning theory is still an unexplored scientific field. Towards the problem of nonlinear disturbance in space driving mechanism with large inertia load, a 14-DOF (Degree of Freedom) nonlinear, time-varying, dynamic model of two-stage spur gear system was established, taking into consideration time-varying stiffness, backlash and transmission error. The dynamic response of the load, under large or small inertia was investigated, basing on the dynamic model. The results indicate that at starting, normal operation and braking, large inertia load system has obvious hysteresis, compared to small inertia. The factors that improve dynamic response speed under large inertia load were studied. The results indicate that improving the stiffness and damping of the output shaft and changing the material of second gear pair to titanium alloy are helpful in improving the dynamic response speed of the system. Some results enrich the research of two-stage spur gear nonlinear model and large inertia load, since they provide important reference for the actual design of the gear system. [ABSTRACT FROM AUTHOR]

In this paper, we study the equilibria and the relative equilibria, emphasizing the central configurations that characterize the two-body problem associated to a Buckingham type potential. We give conditions on potential parameters that allow the description of the equilibrium points. We characterize the relative equilibria by means of the moment of inertia values, and we provide conditions which ensure that these relative equilibria are spectrally stable or unstable. [ABSTRACT FROM AUTHOR]

This paper presents the dynamically consistent Jacobian inverse for non-holonomic robotic system, and its application to solving the motion planning problem. The system's kinematics are represented by a driftless control system, and defined in terms of its input-output map in accordance with the endogenous configuration space approach. The dynamically consistent Jacobian inverse (DCJI) has been introduced by means of a Riemannian metric in the endogenous configuration space, exploiting the reduced inertia matrix of the system's dynamics. The consistency condition is formulated as the commutativity property of a diagram of maps. Singular configurations of DCJI are studied, and shown to coincide with the kinematic singularities. A parametric form of DCJI is derived, and used for solving example motion planning problems for the trident snake mobile robot. Some advantages in performance of DCJI in comparison to the Jacobian pseudoinverse are discovered. [ABSTRACT FROM AUTHOR]

In this analytical study, free vibration analyses of a 3d mixed formulation beam element are performed by adopting forcebased consistent mass matrix that incorporates shear and rotary inertia effects. The force-based approach takes into account the actual distribution of mass of an element in the derivation of the mass matrix. Moreover, the force-based approach enables accurate determination of free vibration frequencies of members with varying geometry and material distribution without any need for specification of different displacement shape functions for each individual case. This phenomenon is justified by comparing free vibration frequencies of cantilever beams that have circular and rectangular cross-sections and various mass distribution configurations. Vibration frequencies of the mixed formulation element are compared with the frequencies obtained from closed-form solutions and finite element analyses. Fundamental frequency is computed with only one element per member span and higher order frequencies are determined with two or four elements with considerable accuracy by employing 3d mixed element and force-based consistent mass matrix. [ABSTRACT FROM AUTHOR]

High-performance industrial drives widely employ induction motors with position sensorless vector control (SLVC). The state-of-the-art SLVC is first reviewed in this paper. An improved design procedure for current and flux controllers is proposed for SLVC drives when the inverter delay is significant. The speed controller design in such a drive is highly sensitive to the mechanical parameters of the induction motor. These mechanical parameters change with the load coupled. This paper proposes a method to experimentally determine the moment of inertia and mechanical time constant of the induction motor drive along with the load driven. The proposed method is based on acceleration and deceleration of the motor under constant torque, which is achieved using a sensorless vector-controlled drive itself. Experimental results from a 5-hp induction motor drive are presented. [ABSTRACT FROM AUTHOR]

The two-parameter formula/model viz. nuclear softness (NS) formula, semiclassical particle rotor model (PRM) and exponential model with pairing attenuation are used for the reliable phenomenological analysis of identical superdeformed bands. These formulae/models are employed to study the identical superdeformed bands of the $ A\sim190$ mass region, { Hg(2) , Hg(2) }, { Hg(3) , Hg(3) }, { Tl (3) , Tl (5) }, { Tl (1) , Tl (3) }, { Tl (1) , Tl (4) }, { Pb(3) , Hg(2) }, { Pb(4) , Hg(3) }, { Pb(1) , Hg(1) }, { Pb(1) , Hg(1) } and middle-point identical bands { Tl (1) , Tl (2) }, { Tl (1) , Tl (1) } and { Tl (2) , Tl (2) }. Quantitatively, good results of $ \gamma$ -ray transitions energies and dynamic moment of inertia are obtained using the NS formula. The parameters, band-head moment of inertia ( $ \Im_{0}$ , alignment ( i and effective pairing parameter ( $ \Delta_{0}$ are calculated using the least-squares fitting of the $ \gamma$ -ray transitions energies in the NS formula, semiclassical PRM and exponential model with pairing attenuation, respectively. The calculated parameters are found to depend sensitively on the proposed band-head spin. [ABSTRACT FROM AUTHOR]

A hierarchy of mathematical models describing viscosity-stratified flow in a Hele-Shaw cell is constructed. Numerical modelling of jet flow and development of viscous fingers with the influence of inertia and friction is carried out. One-dimensional multi-layer flows are studied. In the framework of three-layer flow the interpretation of the Saffman–Taylor instability is given. A kinematic-wave model of viscous fingering taking into account friction between the fluid layers is proposed. Comparison with calculations on the basis of two-dimensional equations shows that this model allows to determine the propagation velocity of the viscous fingers. [ABSTRACT FROM AUTHOR]

The accuracy of metal-formed products is strongly affected by the stiffness of the machine used. Therefore, huge efforts to increase moments of inertia and reduce backlash were made in conventional press design. Multipoint servo presses allow for an alternative approach: increasing the position accuracy with respect to the press stroke direction and the ram tilting by controlling deflections. Necessary models and parameters as well as the effectiveness of such a control are discussed in this paper. The proposed method is validated by experiments using a 3D servo press. [ABSTRACT FROM AUTHOR]

Cable-driven parallel robots (CDPRs) have many advantages over conventional link-based robot manipulators in terms of acceleration due to their low inertia. This paper concerns about under-constrained CDPRs, which have a less number of cables than six, often used favorably due to their simpler structures. Since a smaller number of cables than 6 are employed, however, their payloads have extra degrees of motion freedom and exhibit swaying motions or oscillation. In this paper, a scheme to suppress unwanted oscillatory motions of the payload of a 4-cable-driven CDPR based on a Zero-vibration (ZV) input-shaping scheme is proposed. In this method, a motion in the 3-dimensional space is projected onto the independent motions on two vertical planes perpendicular to each other. On each of the vertical plane, the natural frequency of the CDPR is computed based on a 2-cable-driven planar CDPR model. The precise dynamic model of a planar CDPR is obtained in order to find the natural frequency, which depends on the payload position. The advantage of the proposed scheme is that it is possible to generate an oscillation-free trajectory based on a ZV input-shaping scheme despite the complexity in the dynamics of the CDPR and the difficulty in computing the natural frequencies of the CDPR, which is required in any ZV input-shaping scheme. To verify the effectiveness of the proposed method, a series of computer simulations and experiments were conducted for 3- dimensional motions with a 4-cable-driven CDPR. Their results showed that the motions of the CDPR with the proposed method exhibited a significant reduction in oscillations of the payload. However, when the payload moves near the edges of its workspace, the improvement in oscillation reduction diminished as expected due to the errors in model projection. [ABSTRACT FROM AUTHOR]

In this contribution, a thermodynamically consistent and mathematically canonical modelling framework for the investigation of the cyclic thermomechanical behaviour of Nickel-Titanium shape memory alloy wires is developed. Particular focus is placed on the self-heating of the material subjected to multiple load cycles. The relatively high load rates necessitates the consideration of inertia terms, the applied load amplitudes of six percent strain motivates the use of a non-linear, Hencky-type strain measure. Comparisons of the results with experimental data on the one hand reveal reasonable results and on the other hand underline the necessity of further model enhancements. [ABSTRACT FROM AUTHOR]

An elastohydrodynamic lubrication line contact-vibration model is proposed to study the stiffness and damping of the oil film existed in the EHL contact region. An initial mutual approach between interacting surfaces, which deviates from the steady-state balanced position, is assumed under the free contact-vibration to predict the response of the mutual approach. An inertia term, which represents the acceleration of the gap motion, is added to the classical force balance equation to form the equation of motion of the mutual approach. Response of the mutual approach is solved based upon the solving of the contact-dynamic model. The oil stiffness is calculated according to the natural frequency of the response under damped and non-damped conditions, the latter of which represents dry contact conditions. The oil film damping is calculated in terms of the principle of the energy conservation which utilizes the whole history of response compared with the log decrement method. Effect of the normal load, the rolling speed and the amplitude of the regular sinusoidal surface waviness on the oil film stiffness, the contact stiffness and the oil film damping are studied. The study provides an insight on the oil film dynamic characteristics of lubricated contact-vibration problems which appear in gears, bearings, etc. The results show that the oil film damping factor decreases with the increasing normal load as well as the increasing rolling speed. The oil film stiffness increases with the normal load and decreases with the rolling speed. Also, compared to the contact stiffness, the oil film stiffness makes less contribution to the total stiffness. The surface waviness amplitude has little effect on the oil film stiffness and the oil film damping. [ABSTRACT FROM AUTHOR]

The description of microinertia in micromorphic continua is discussed from the point of view of non-equilibrium thermodynamics. In the framework of dual internal variables, the microinertia stems from a thermodynamic equation of state related to the internal variable, which has the properties similar to mechanical momentum. [ABSTRACT FROM AUTHOR]

Dynamic tensile strength is one of the key factors of concrete material that needs to be accurately defined in analysis of concrete structures subjected to high-rate loadings such as blast and impact. It is commonly agreed that dynamic testing results of concrete material are influenced by the inertia effect, which is very much dependent on the specimen size and loading rate. It is therefore very important to remove the inertia effect in testing data to derive the true dynamic concrete material properties. On the other hand, coarse aggregates in concrete material are usually neglected due to testing limitation or numerical simplification. It has been acknowledged that neglecting coarse aggregates might not necessarily give accurate concrete dynamic material properties. In this study, a three-dimensional mesoscale model of concrete specimen consisting of cement mortar and coarse aggregates is developed to simulate splitting tensile tests and investigate the behaviour of concrete material at high strain rate. The commercial software LS-DYNA is used to carry out the numerical simulations of dynamic splitting tensile tests. The reliability of the numerical model in simulating the dynamic splitting tensile tests is verified by comparing the numerical results with the laboratory test data from the literature. The influence of inertia effect in dynamic splitting tensile tests is investigated and removed. An empirical formula to represent the true dynamic increase factor relations obtained from dynamic splitting tensile test is proposed and verified. [ABSTRACT FROM AUTHOR]

The troposphere and lower stratosphere (TLS) is a region with active atmospheric fluctuations. The Wuhan Mesosphere-Stratosphere-Troposphere (MST) radar is the first MST radar to have become operational in Mainland China. It is dedicated to real-time atmospheric observations. In this paper, two case studies about inertia gravity waves (IGWs) derived from three-dimensional wind field data collected with the Wuhan MST radar are presented. The intrinsic frequencies, vertical wavelengths, horizontal wavelengths, vertical wavenumber spectra, and energy density are calculated and analyzed. In this paper, we also report on multiple waves existing in the lower stratosphere observed by the Wuhan MST radar. Lomb-Scargle spectral analysis and the hodograph method were used to derive the vertical wavenumber and propagation direction. Meanwhile, an identical IGW is observed by Wuhan MST radar both in troposphere and lower stratosphere regions. Combining the observations, the source of the latter IGW detected in the TLS would be the jet streams located in the tropopause region, which also produced wind shear above and below the tropopause. [ABSTRACT FROM AUTHOR]

Based on the movement resistance forces, the vehicle longitudinal dynamics is related to power demand for a specific route. The vehicle gear shifting influences significantly the acceleration performance and fuel consumption because it changes the engine operation point and the powertrain inertia. This paper presents a study based on the US06 velocity profile that involves high speed and high acceleration phases, where the vehicle performance is limited by both the engine power and the tire traction limit. For improving the vehicle performance without increasing fuel consumption, a genetic algorithm (GA) technique is used. [ABSTRACT FROM AUTHOR]

This paper introduces a method for the robust estimation of foot clearance during walking, using a single inertial measurement unit (IMU) placed on the subject's foot. The proposed solution is based on double integration and drift cancellation of foot acceleration signals. The method is insensitive to misalignment of IMU axes with respect to foot axes. Details are provided regarding calibration and signal processing procedures. Experimental validation was performed on 10 healthy subjects under three walking conditions: normal, fast and with obstacles. Foot clearance estimation results were compared to measurements from an optical motion capture system. The mean error between them is significantly less than 15% under the various walking conditions. [ABSTRACT FROM AUTHOR]

Despite extensive research on extensional flows, there is no complete explanation for why highly viscous fluids extending under gravity can form such persistent and stable filaments with no sign of destabilization from surface tension. We therefore investigate the motion of a slender axisymmetric viscous thread that is supported at its top by a fixed horizontal surface and extends downward under gravity. In the case in which inertia and surface tension are initially negligible, we consider the long-wavelength equations for the full initial–boundary-value problem for a thread of arbitrary initial shape. We show that, eventually, the accelerations in the thread become sufficiently large that the inertial terms become important. Thus, we keep the inertial terms and, using matched asymptotic expansions, obtain solutions for the full initial–boundary-value problem. We show that the dynamics can be divided into two generic cases that exhibit very different behaviour. In the first case, the thread develops a long thin region that joins together two fluid masses. In this case, we use order-of-magnitude estimates to show that surface-tension-driven pinching will not occur if the square root of the Reynolds number is much greater than the initial aspect ratio divided by the Bond number. In the second case, the thread becomes thin near the horizontal surface. In this case, we show that the long-wavelength equations will ultimately break down and discuss the role of inertia in determining the dynamics. The asymptotic procedures require a number of novel techniques and the resulting solutions exhibit surprisingly rich behaviour. The solution allows us to understand the mechanisms that underlie highly persistent filaments. [ABSTRACT FROM AUTHOR]

Clock rate in a noninertial system varies with respect to velocity and gravitational potential. Because time is linear and the variations occur simultaneously, two sets of coordinates are required to account for the separability of clock variables: one set that is velocity dependent and another due to gravitational field that is acceleration dependent. It is shown how these conditions may be satisfied mathematically with an action integral of a Lagrangian density between surfaces to describe atomic systems. Time uncertainty in inertial and noninertial systems is discussed. [ABSTRACT FROM AUTHOR]

This paper presents a novel method to evaluate the characteristics of the spherical hydrostatic supporting system for the floated inertial platform in dynamic environments. This hydrostatic supporting system consists of eight suspension pads fixed on the inner sphere. The force model for each single suspension pad is established. The dynamic equations for the inner sphere are also derived from the geometrical configuration. The stable time and stable deviation of the inner sphere in different dynamic environments are calculated. The results show that the hydrostatic supporting system can make the inner sphere resistant to the vehicle acceleration effectively and omnidirectionally. [ABSTRACT FROM AUTHOR]

An ice-detachment failure model is proposed for iced overhead electrical conductors to predict the transient response of line systems subjected to shock loads. The model considers the bending strains in the ice deposit, the adhesive force at the ice–cable interface and the cohesive force within the ice. It is implemented into finite element analysis by setting a critical vertical acceleration corresponding to inertia forces overcoming the adhesive/cohesive forces on the ice chunk. The model is validated by results from reduced and real scale de-icing tests of glaze ice but the approach can apply to different types of atmospheric icing. [ABSTRACT FROM AUTHOR]

In this paper a three-dimensional self-balancing cube is introduced. For stabilization and swing-up, reaction wheels are placed within the cube along with the actuation, electronics and sensors. This allows the cube to swing up from a rest position and to balance around the unstable steady-state positions. We first conducted a design assessment to review different design approaches. For the most promising design, we then formulated a parameter optimization to calculate the most suitable dimensions for the cube and the inertia elements. These results were then used in the mechanical design stage to obtain the optimal design parameters for the cube in an iterative process. In addition to this mechatronic design, we also focused on the control of swing-up and the stabilization of the cube. We considered a proportional control law using virtual springs with feed-forward control. The performance of the proposed control was first evaluated in simulations and then extensively tested on the real system. [ABSTRACT FROM AUTHOR]

This paper presents low computational-complexity methods for micro-aerial-vehicle localization in GPS-denied environments. All the presented algorithms rely only on the data provided by a single onboard camera and an Inertial Measurement Unit (IMU). This paper deals with outlier rejection and relative-pose estimation. Regarding outlier rejection, we describe two methods. The former only requires the observation of a single feature in the scene and the knowledge of the angular rates from an IMU, under the assumption that the local camera motion lies in a plane perpendicular to the gravity vector. The latter requires the observation of at least two features, but it relaxes the hypothesis on the vehicle motion, being therefore suitable to tackle the outlier detection problem in the case of a 6DoF motion. We show also that if the camera is rigidly attached to the vehicle, motion priors from the IMU can be exploited to discard wrong estimations in the framework of a 2-point-RANSAC-based approach. Thanks to their inherent efficiency, the proposed methods are very suitable for resource-constrained systems. Regarding the pose estimation problem, we introduce a simple algorithm that computes the vehicle pose from the observation of three point features in a single camera image, once that the roll and pitch angles are estimated from IMU measurements. The proposed algorithm is based on the minimization of a cost function. The proposed method is very simple in terms of computational cost and, therefore, very suitable for real-time implementation. All the proposed methods are evaluated on both synthetic and real data. [ABSTRACT FROM AUTHOR]

We examine the collective nuclear structure of light and medium mass ( Z = 50-82, N = 82-126) even-even nuclei using valence nucleon pair product ( Np Nn). We discuss the role of proton-neutron interaction in light mass nuclei and illustrate the variation of observables of collectivity and deformation (i.e., ground band moment of inertia) and B(E2) values with N and Np Nn). The plot of these observables against Np Nn vividly displays the formation of isotonic multiplets in quadrant I, strong dependence on Np Nn in quadrant II and weak constancy with Z in quadrant III is illustrated. [ABSTRACT FROM AUTHOR]

Three-dimensional particle tracking velocimetry (3D-PTV) has been applied to particle-laden pipe flow at Reynolds number 10,300, based on the bulk velocity and the pipe diameter. The volume fraction of the inertial particles was equal to 1.4 × 10 −5 . Lagrangian velocity and acceleration statistics were determined both for tracers and for inertial particles with Stokes number equal to 2.3, based on the particle relaxation time and the viscous time scale. The decay of Lagrangian velocity and acceleration correlation functions was measured both for the fluid and for the dispersed phase at various radial positions. The decay of Lagrangian velocity correlations is faster for inertial particles than for flow tracers, whereas the decay of Lagrangian acceleration correlations is about 25% slower for inertial particles than for flow tracers. Further differences between inertial and tracer particles are found in velocity fluctuations evaluated for both positive and negative time lags. The asymmetry in time of velocity cross-correlations is more pronounced for inertial particles. Quadrant analysis revealed another difference still near the wall: ejection and sweep events are less frequent for inertial particles than for tracers. [ABSTRACT FROM AUTHOR]

Wheel force transducer (WFT) is a tool which can measure the three-axis forces and three-axis torques applied to the wheel in vehicle testing applications. However, the transducer is generally mounted on the wheel of a moving vehicle, when abruptly accelerating or braking, the mass/inertia of the transducer itself has extra effects on the sensor response so that inertia/mass loads will be detected and coupled into the signal outputs. This is the inertia coupling effect that decreases the sensor accuracy and should be avoided. In this paper, the inertia coupling problem induced by six dimensional accelerations is investigated for a universal WFT. Inertia load distribution of the WFT is solved based on the principle of equivalent mass and rotary inertia firstly, thus then its impact can be identified with the theoretical derivation. FEM simulation and experimental verification are performed as well. Results show that strains in simulation agree well with the theoretical derivation. The relationship between the applied acceleration and inertia load for both wheel force and moment is the approximate linear respectively. The relative errors are acceptable within less than 5% and the maximum impact of inertia loads on the signal output is about 1.5% in the measuring range. [ABSTRACT FROM AUTHOR]

This paper presents a novel approach for estimating the ego-motion of a vehicle in dynamic and unknown environments using tightly-coupled inertial and visual sensors. To improve the accuracy and robustness, we exploit the combination of point and line features to aid navigation. The mathematical framework is based on trifocal geometry among image triplets, which is simple and unified for point and line features. For the fusion algorithm design, we employ the Extended Kalman Filter (EKF) for error state prediction and covariance propagation, and the Sigma Point Kalman Filter (SPKF) for robust measurement updating in the presence of high nonlinearities. The outdoor and indoor experiments show that the combination of point and line features improves the estimation accuracy and robustness compared to the algorithm using point features alone. [ABSTRACT FROM AUTHOR]

A new circle-arc model was established to present the cellular structure. Dynamic response of models with density gradients under constant velocities is investigated by employing Ls-dyna 971. Compared with the uniform models, the quasi-static plateau stress of different layers seems a significant parameter correlated with the deformation mode except for inertia effect when the density gradient is introduced. The impact velocity becomes much more vital on the deformation of the unit cell than the density gradient. The stress at both the impact and stationary sides is investigated in details. Furthermore, the stress-strain curve is compared with the modified shock wave theory. The density gradient does have some remarkable influence on the energy absorption capability, and a certain density gradient is not always beneficial to the energy absorption. Irrespective of the impact velocity, there seems always a critical strain where the energy absorbed by all these specimens could approximate to nearly the same value. So the critical strain-velocity curve is plotted and gives the beneficial area for energy absorption pertinent to density gradients and impact velocity. [ABSTRACT FROM AUTHOR]

The present study investigated the underlying reasons for difficulties faced by students when they applied the concept of inertia across varying contexts. The participants of the study included five high school students. Data obtained from interviews were interpreted from the perspectives of the coordination class and epistemological framing theories. Analysis indicated that students demonstrated different reasoning patterns across the varying situations. Student's performances were influenced by their epistemological framings about problem solving and previous experiences related to learning physics. Students also revealed a lack of metacognitive awareness about their reasoning in related situations. The results also demonstrated that learning inertia is not a simple task as assumed. The study provides methodological and instructional implications for assessing and teaching inertia. [ABSTRACT FROM AUTHOR]

Wheel force transducer (WFT), which measures the three-axis forces and three-axis torques applied to the wheel, is an important instrument in the vehicle testing field and has been extremely promoted by researchers with great interests. The transducer, however, is typically mounted on the wheel of a moving vehicle, especially on a high speed car, when abruptly accelerating or braking, the mass/inertia of the transducer/wheel itself will have an extra effect on the sensor response so that the inertia/mass loads will also be detected and coupled into the signal outputs. The effect which is considered to be inertia coupling problem will decrease the sensor accuracy. In this paper, the inertia coupling of a universal WFT under multi-axis accelerations is investigated. According to the self-decoupling approach of the WFT, inertia load distribution is solved based on the principle of equivalent mass and rotary inertia, thus then inertia impact can be identified with the theoretical derivation. The verification is achieved by FEM simulation and experimental tests. Results show that strains in simulation agree well with the theoretical derivation. The relationship between the applied acceleration and inertia load for both wheel force and moment is the approximate linear, respectively. All the relative errors are less than 5% which are within acceptable and the inertia loads have the maximum impact on the signal output about 1.5% in the measurement range. [ABSTRACT FROM AUTHOR]

This paper describes a decoupling control scheme for a two-axis inertially stabilized platform (ISP) used in the airborne power line inspection system. The dynamic model of the ISP has been obtained by using the Newton–Euler equation first. The inverse system method combining with the internal model control has been proposed to deal with the nonlinearity and coupling of the ISP. The key idea is to design an inverse system with measured system states such as angular positions, rates and accelerations. Then a pseudo-linear system is constructed when the inverse system is connected with the original system in series. As a result, the coupled nonlinear MIMO (Multiple-Input Multiple-Output) system is converted to two linear decoupled SISO (Single-Input Single-Output) subsystems. Model uncertainties or unmeasurable disturbances existing objectively can be solved by introducing internal model control. Better decoupling effect and disturbance rejecting ability are demonstrated by numerical simulations and experiments carried out on a two-axis ISP system. [ABSTRACT FROM AUTHOR]

Inertial measurement units (IMU) are gaining increasing importance for human motion tracking in a large variety of applications. IMUs consist of gyroscopes, accelerometers, and magnetometers which provide angular rate, acceleration, and magnetic field information, respectively. In scenarios with a permanently distorted magnetic field, orientation estimation algorithms revert to using only angular rate and acceleration information. The result is an increasing drift error of the heading information. This article describes a method to compensate the orientation drift of IMUs using angular rate and acceleration readings in a quaternion-based algorithm. Zero points (ZP) were introduced, which provide additional heading and gyroscope bias information and were combined with bidirectional orientation computation. The necessary frequency of ZPs to achieve an acceptable error level is derived in this article. In a laboratory environment the method and the effect of varying interval length between ZPs was evaluated. Eight subjects were equipped with seven IMUs at trunk, head and upper extremities. They performed a predefined course of box handling for 40 min at different motion speeds and ranges of motion. The orientation estimation was compared to an optical motion tracking system. The resulting mean root mean squared error (RMSE) of all measurements ranged from 1.7 deg to 7.6 deg (roll and pitch) and from 3.5 deg to 15.0 deg (heading) depending on the measured segment, at a mean interval-length of 1.1 min between two ZPs without magnetometer usage. The 95% limits of agreement (LOA) ranged in best case from -2.9 deg to 3.6 deg at the hip roll angle and in worst case from -19.3 deg to 18.9 deg at the forearm heading angle. This study demonstrates that combining ZPs and bidirectional computation can reduce orientation error of IMUs in environments with magnetic field distortion. [ABSTRACT FROM AUTHOR]