Kinematics Nomenclature for Physiological Accelerations - with Special Reference to Vestibular Applications
Kinematics nomenclature for physiological accelerations, particularly vestibular applications
VESTIBULAR APPARATUS↗
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Kinematics nomenclature for physiological accelerations with special reference to vestibular applications
Kinematics nomenclature for physiological accelerations and special reference to vestibular apparatus
VESTIBULAR APPARATUS↗
Kinematic synthesis of plane curves.
Damped least squares method for kinematic synthesis of plane curves described by paired coordinates for four-bar linkage mechanism
COORDINATE SYSTEM↗
A Magnified View of the Kinematics and Morphology of RCSGA 032727-132609: Zooming in on a Merger at z = 1.7
We present a detailed analysis of multi-wavelength Hubble Space Telescope/Wide Field Camera 3 (WFC3) imaging and Keck/OSIRIS near-infrared adaptive optics-assisted integral field spectroscopy for a highly magnified lensed galaxy at z = 1.70. This young starburst is representative of ultraviolet-selected star-forming galaxies (SFGs) at z approx. 2 and contains multiple individual star-forming regions. Due to the lensing magnification, we can resolve spatial scales down to 100 pc in the source plane of the galaxy. The velocity field shows disturbed kinematics suggestive of an ongoing interaction and there is a clear signature of a tidal tail. We constrain the age, reddening, star formation rate, and stellar mass of the star-forming clumps from spectral energy distribution (SED) modeling of the WFC3 photometry and measure their H(alpha) luminosity, metallicity, and outflow properties from the OSIRIS data.With strong star-formation-driven outflows in four clumps, RCSGA0327 is the first high-redshift SFG at stellar mass <10(exp 10) Stellar Mass with spatially resolved stellar winds. We compare the H(alpha) luminosities, sizes, and dispersions of the star-forming regions with other high-z clumps as well as local giant H(II) regions and find no evidence for increased clump star formation surface densities in interacting systems, unlike in the local universe. Spatially resolved SED modeling unveils an established stellar population at the location of the largest clump and a second mass concentration near the edge of the system that is not detected in H(alpha) emission. This suggests a picture of an equal-mass mixed major merger, which has not triggered a new burst of star formation or caused a tidal tail in the gas-poor component.
Magnified↗
A Geodynamic Framework for Eastern Mediterranean Kinematics
We use a finite element model incorporating plate motion boundary conditions, fault constraints, and space geodetic velocities to calculate eastern Mediterranean plate kinematics and to estimate the motion of the region's major faults.
Plate↗
The Kinematic Navigation and Cartography Knapsack (KNaCK): Demonstrating SLAM (Simultaneous Localization and Mapping) LiDAR as a Tool for Exploration and Mapping of Lunar Pits and Caves.
Renewed interest in deep space exploration has made establishing a persistent human presence on the Moon and eventually Mars a priority. Sustained habitation of the Moon will require in-situ resource utilization (ISRU) and protection from radiation at the lunar surface. Lunar caves are of interest to the space community because they could provide shelter from radiation, access to water deposits, and a space for habitation, as well as hold information about the geology, volcanology, and evolution of the Moon. Developing the tools to explore, map, and characterize these voids is key to understanding the Moon as a planetary body and to establishing a permanent human presence there. Our team is currently developing tools that enable ultra-high resolution terrain mapping and navigation using mobile light detection and ranging (LIDAR) technology and simultaneous localization and mapping (SLAM) algorithms in fully GPS-denied and no-light environments. 3D mapping with LiDAR and SLAM is relatively under-used, particularly in the context of planetary exploration and planetary analog environments. The backpack mounted LiDAR instrument currently under development by the KNaCK (Kinematic Navigation and Cartography Knapsack) team has demonstrated the potential of mobile SLAM LiDAR for lunar, planetary, and terrestrial cave exploration, study, and utilization. A description of the instrument and associated SLAM algorithms used for mapping in GPS-denied environments are referenced here.
LiDAR↗
The Kinematic Navigation and Cartography Knapsack (KNaCK): Demonstrating SlLAM (Simultaneous Localization and Mapping) LiDAR as a Tool for Exploration and Mapping of Lunar Pits and Caves
KNaCK (Kinematic Navigation and Cartography Knapsack) is a backpack-mounted mobile LiDAR (Light Detection and Ranging) system. It can map its surroundings in 3 dimensions and localize itself in space. The project is exploring how LiDAR can advance terrain mapping and navigation at the lunar south pole. KNaCK is lead by Dr. Michael Zanetti of NASA MSFC’s Heliophysics and Planetary Science Branch. - KNaCK serves as - A test article for GPS denied mapping and navigation. - A test bed for SLAM (Simultaneous Localization and Mapping) algorithms. - A test bed for commercial LiDAR units. - A tool for terrestrial science.
LiDAR↗
Efficient and Singularity-Aware Inverse Kinematics for 6-DOF and 7-DOF Revolute Manipulators
Inverse kinematics (IK) for 6-DOF and 7-DOF revolute robot manipulators may be decomposed into canonical subproblems which find the angles on circles where they intersect with other geometric objects. We present new algebraic solutions and geometric interpretations for six subproblems. We demonstrate significant performance improvements over existing IK methods. 7-DOF manipulators have one redundant DOF to parameterize, so we introduce the general SEW angle, which generalizes the conventional SEW angle but with an arbitrary reference direction function. One special choice, the stereographic SEW angle, has a singularity when the wrist is on a half-line instead of a full line.
Computational Geometry↗
Redundancy Parameterization and Inverse Kinematics of 7-DOF Revolute Manipulators
Seven degree-of-freedom (DOF) robot arms have one redundant DOF for obstacle and singularity avoidance. This DOF does not change the end effector motion and must be parameterized to fully specify the joint angles for a given end effector pose. For 7-DOF revolute (7R) manipulators, we introduce the generalized shoulder-elbow-wrist (SEW) angle, a generalization of the widely-used conventional SEW angle but with an arbitrary reference direction function, along with Jacobian expressions and singularity analysis. Other redundancy parameterizations including the conventional SEW angle encounter an algorithmic singularity along a line in the workspace. We introduce a reference direction function choice called the stereographic SEW angle which has a singularity only along a half-line and can be placed out of reach. We prove such a singularity is unavoidable for any parameterization. Finally, using the general SEW angle and the subproblem decomposition method, we provide efficient singularity-robust inverse kinematics solutions for 7R manipulators which are often closed-form but may involve a 1D or (in general) 2D search. Search-based solutions may be converted to finding polynomial roots. Examples are available in a publicly accessible repository.
Kinematics↗
Towards Full ‘Galilei General Relativity’: Gravitational Kinematics in Bargmann Spacetimes
Because of the strict separation of mass and energy in Galilei physics, a Galilei-invariant tensor formalism is most at home in a 5-dimensional extended spacetime associated with the Bargmann-Galilei (traditionally ‘Bargmann’) group, a central extension of the Galilei group that explicitly exhibits the transformation properties of kinetic energy. While not necessary for a tensor formalism fully embodying Poincaré physics, a similar central extension of the Poincaré group to the Bargmann-Poincaré group may illuminate a path towards a strong-field ‘Galilei general relativity’. Here the Bargmann metric is generalized to curved spacetime by extending the usual 1+3 (traditionally ‘3+1’) formalism of general relativity on 4-dimensional spacetime to a 1+3+1 formalism, whose spacetime kinematics is shown to be consistent with that of the usual 1+3 formalism. On Bargmann spacetime, tensor laws governing the motion of an elementary classical material particle and the dynamics of a simple fluid reference the foliation of spacetime in a manner that partially reverts the Einstein perspective (accelerated fiducial observers, and geodesic material particles and fluid elements) to a Newton-like perspective (geodesic fiducial observers, and accelerated material particles and fluid elements subject to a gravitational force).
Cardall, Christian [ORNL] (ORCID:000000020086105X)↗
Measurement of the dineutrino system kinematic variables in dileptonic top quark pair production in proton-proton collisions at $\sqrt{s}=13$ TeV
Differential top quark pair production cross sections are measured in the dilepton final states e + e − , μ + μ − , and e ± μ ∓ , as a function of kinematic variables of the two-neutrino system: the transverse momentum $p^{vv}_{\textrm{T}}$ of the dineutrino system, the minimum distance in azimuthal angle between $\vec{p}^{vv}_{\textrm{T}}$ and leptons, and in two dimensions in bins of both observables. The measurements are performed using CERN LHC proton-proton collisions at $\sqrt{s}=13$ TeV, recorded by the CMS detector between 2016 and 2018, corresponding to an integrated luminosity of 138 fb −1 . The measured cross sections are unfolded to the particle level using an unregularized least squares method. Results are compared with predictions by the standard model of particle physics, and found to be in agreement with theoretical calculations as well as Monte Carlo simulations.
Hadron-Hadron Scattering↗
Reconstructing neutrinoless double beta decay event kinematics in a xenon gas detector with vertex tagging
If neutrinoless double beta decay is discovered, the next natural step would be understanding the lepton number violating physics responsible for it. Several alternatives exist beyond the exchange of light neutrinos. Some of these mechanisms can be distinguished by measuring phase-space observables, namely the opening angle cos θ among the two decay electrons, and the electron energy spectra, T 1 and T 2 . In this work, we study the statistical accuracy and precision in measuring these kinematic observables in a future xenon gas detector with the added capability to precisely locate the decay vertex. For realistic detector conditions (a gas pressure of 10 bar and spatial resolution of 4 mm), we find that the average $\overline{cos θ}$ and $\overline{T_1}$ values can be reconstructed with a precision of 0.19 and 110 keV, respectively, assuming that only 10 neutrinoless double beta decay events are detected.
46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
Characterization of nuclear breakup as a function of hard-scattering kinematics using dijets measured by ATLAS in p+Pb collisions
This Letter analyzes the sensitivity of event geometry estimators to the initial-state kinematics of hard scattering in proton–lead collisions. This analysis uses dijets as a proxy for the parton–parton scattering configuration, correlating it with event geometry estimators, namely the energy deposited in the Zero-Degree Calorimeter and the transverse energy recorded in the Forward Calorimeter in the Pb-going direction. The analysis uses data recorded by the ATLAS detector at the Large Hadron Collider with a nucleon–nucleon center-of-mass energy of 8.16 TeV, corresponding to an integrated luminosity of 56 nb − 1 . The jets are measured within the pseudorapidity interval −2.8 < η < 4.5, where positive η values correspond to the direction of the proton beam. Results are presented as a function of the Bjorken-x of the parton originating from the proton, xp . Both event geometry estimators are found to be dependent on xp , with the energy deposited in the Zero-Degree Calorimeter about six times less sensitive to xp compared with the transverse energy deposited in the Forward Calorimeter.
Aad, G↗
Robustness of pairwise kinematic Sunyaev–Zel’dovich effect to optical-cluster-selection bias
The pairwise kinematic Sunyaev–Zel’dovich (kSZ) effect measures both the pairwise motion between galaxy groups and clusters and the amount of gas within them, providing a tracer for cosmic growth. To interpret the cosmological information in the kSZ measurements, it is crucial to understand the optical-cluster-selection bias on the kSZ observables. Line-of-sight structures that contribute to both the optical observable (e.g., richness) and the cosmological signal can induce a correlation between these two quantities at a fixed cluster mass. The selection bias arising from this correlation is a key systematic effect for cosmological analyses. For cosmological observables such as cluster abundance and weak lensing, controlling this selection bias may help explain the tension between the DES-Y1 results and the Planck constraints. In order to test for a kSZ effect equivalent of such a bias, we adopted an alternative mock richness based on galaxy counts within cylindrical volumes along the line of sight. We applied the cylindrical count method to hydrodynamical simulations across a wide range of galaxy-selection criteria, assigning richness consistent with DES-Y1 to the mock clusters. When comparing optically selected clusters to mass-selected halos, we find no significant bias on pairwise kSZ signals, pairwise velocities, or optical depth within our uncertainty limits of approximately 16, 10, and 8%, respectively.
79 ASTRONOMY AND ASTROPHYSICS↗
The Atacama Cosmology Telescope: Large-scale velocity reconstruction with the kinematic Sunyaev-Zel'dovich effect and DESI LRGs
The kinematic Sunyaev-Zel'dovich (kSZ) effect induces a non-zero density-density-temperature bispectrum, which we can use to reconstruct the large-scale velocity field from a combination of cosmic microwave background (CMB) and galaxy density measurements, in a procedure known as “kSZ velocity reconstruction”. This method has been forecast to constrain large-scale modes with future galaxy and CMB surveys, improving their measurement beyond what is possible with the galaxy surveys alone. Such measurements will enable tighter constraints on large-scale signals such as primordial non-Gaussianity, deviations from homogeneity, and modified gravity. In this work, we demonstrate a statistically significant measurement of kSZ velocity reconstruction for the first time, by applying quadratic estimators to the combination of the ACT DR6 CMB+kSZ map and the DESI LRG galaxies (with photometric redshifts) in order to reconstruct the velocity field. We do so using a formalism appropriate for the 2-dimensional projected galaxy fields that we use, which naturally incorporates the curved-sky effects important on the largest scales. We find evidence for the signal by cross-correlating with an external estimate of the velocity field from the spectroscopic BOSS survey and rejecting the null (no-kSZ) hypothesis at 3.8σ. Our work presents a first step towards the use of this observable for cosmological analyses.
Sunyaev-Zeldovich effect↗
The duality between color and kinematics and its applications
Abstract This review describes the duality between color and kinematics and its applications, with the aim of gaining a deeper understanding of the perturbative structure of gauge and gravity theories. We emphasize, in particular, applications to loop-level calculations, the broad web of theories linked by the duality and the associated double-copy structure, and the issue of extending the duality and double copy beyond scattering amplitudes. The review is aimed at doctoral students and junior researchers both inside and outside the field of amplitudes and is accompanied by various exercises.
Physics↗
Probing cosmic velocities with the pairwise kinematic Sunyaev-Zel’dovich signal in DESI Bright Galaxy Sample DR1 and ACT DR6
We present a measurement of the pairwise kinematic Sunyaev-Zel’dovich (kSZ) signal using the Dark Energy Spectroscopic Instrument (DESI) Bright Galaxy Sample (BGS) Data Release 1 (DR1) galaxy sample overlapping with the Atacama Cosmology Telescope (ACT) CMB temperature map. Our analysis makes use of 1.6 million galaxies with stellar masses log 𝑀 ⋆ /𝑀 ⊙ >10, and we explore measurements across a range of aperture sizes (2.1′ <𝜃 ap <3.5′) and stellar mass selections. This statistic directly probes the velocity field of the large-scale structure, a unique observable of cosmic dynamics and modified gravity. In particular, at low redshifts, this quantity is especially interesting, as deviations from General Relativity are expected to be largest. Notably, our result represents the highest-significance low-redshift (𝑧 ∼ 0.3) detection of the kSZ pairwise effect yet. In our most optimal configuration (𝜃 ap =3.3′, log 𝑀 ⋆ >11), we achieve a 5𝜎 detection. Assuming that an estimate of the optical depth and galaxy bias of the sample exists via e.g., external observables, this measurement constrains the fundamental cosmological combination 𝐻 0 𝑓𝜎$^2_8$. A key challenge is the degeneracy with the galaxy optical depth. We address this by combining CMB lensing, which allows us to infer the halo mass and galaxy population properties, with hydrodynamical simulation estimates of the mean optical depth, $\bar{𝜏}$ . We stress that this is a proof-of-concept analysis; with BGS DR2 data we expect to improve the statistical precision by roughly a factor of two, paving the way toward robust tests of modified gravity with kSZ-informed velocity-field measurements at low redshift.
Hadzhiyska, Boryana [Institute of Astronomy; Kavli↗
Inverse kinematics study of the energy levels of 21 Ne populated with the 20 Ne +𝑑 reaction
In recent years there has been significant experimental effort aimed at studying the impact of 16 O neutron poisoning on the weak 𝑠 process in rotating massive stars. Improving the understanding of energy levels in 21 Ne is crucial to reducing uncertainties in the rates of the 𝛼-induced reactions on 17 O that determine the overall efficiency of the weak 𝑠 process. This paper reports on one such experiment: a study of the 20 Ne (𝑑,𝑝) 21 Ne reaction in inverse kinematics. Deduced spin-parity assignments were made based on adiabatic distorted-wave approximation analysis and neutron partial widths were estimated by comparison with a previous experiment. Of particular significance for nuclear astrophysics is the resulting neutron partial width for the 7820-keV energy level, estimated to be 12 200 (2900) eV, and an upper limit of ≤ 9300 eV for that of the 7749-keV energy level. These results are in tension with previous studies and therefore this paper also discusses the current state of the research into the astrophysically relevant energy levels and highlights both areas of agreement and areas of disagreement between this and various other studies that have investigated this nucleus.
direct reactions↗