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DOE OSTI2022

The role of breakup and coalescence in fine-scale bubble-induced turbulence. II. Kinematics

This second part of our research explores the kinematic aspect of fine-scale bubble-induced turbulence (BIT) to (i) present the effect of bubble breakup and coalescence and (ii) compare it against the universal kinematic fine-scale turbulence characteristics reported in the literature. To this end, we simulate a dilute bubbly system of 0.5% void fraction using two distinct numerical simulations. In the volume-of-fluid (VoF) simulation, bubbles undergo breakup and coalescence. In the immersed boundary method (IBM) simulation, however, they act as rigid spheres. We also perform a simulation of classical homogeneous isotropic turbulence (HIT). The first important outcome of this study is that BIT is radically different from HIT in terms of its kinematic fine-scale characteristics. In the vorticity-dominating regions, BIT exhibits a weak vortex stretching. This weak vortex stretching is due to (a) the intermediate strain-rate eigenvalues skewed weakly to positive and (b) the extensive strain-rate eigenvector aligning perpendicular to the vorticity vector. The BIT has, on average, not only a weak enstrophy production but also a weak strain production in strain-dominating regions. The weak strain production is due to (a) the presence of vortex stretching in highly strained fluid elements and (b) the absolute magnitude of compressive strain-rate eigenvalue being as close to the extensive strain-rate eigenvalue. Thus, none of the kinematic fine-scale HIT characteristics is noted for BIT. The second important conclusion is that bubble breakup and coalescence play little to no influence on the kinematics of fine-scale BIT as VoF and IBM simulations produce similar results.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

DOE OSTI2024

The Kinematics of Proal Chewing in Rats

Chewing kinematics are well-documented in several mammal species with fused mandibular symphyses, but relatively understudied in mammals with an unfused symphysis, despite the fact that more than half of extant Mammalia have an unfused mandibular symphysis. The Wistar brown rat (Rattus norvegicus) is widely used in human health research, including studies of mastication or neurological studies where mastication is the output behavior. These animals are known to have unfused mandibular symphyses and proal jaw (rostrocaudal) motion during occlusion, but the lack of high resolution, 3-dimensional analysis of rat chewing leaves the functional significance of symphyseal mobility unknown. We used biplanar fluoroscopy and the X-ray reconstruction of moving morphology workflow to quantify chewing kinematics in 3 brown rats, quantifying overall jaw kinematics, including motions about the temporomandibular joint and unfused mandibular symphysis. During occlusion, the teeth and the mandibular condyle translate almost exclusively anteriorly (proal) during occlusion, with little motion in any other degrees of freedom. At the symphysis, we observed minimal flexion throughout the chew cycle. Overall, there are fundamental differences in jaw kinematics between rats and other mammals and therefore rats are not an appropriate proxy for ancestral mammal jaw mechanics. Additionally, differences between humans and rat chewing kinematics must be considered when using rats as a clinical model for pathological feeding research.

59 BASIC BIOLOGICAL SCIENCES↗

DOE OSTI2026

Signatures of a Tidally Induced Spiral Arm at the Anticenter of the Milky Way and a Kinematically Extended Anticenter Stream Using DESI Data Release 2

Using the Dark Energy Spectroscopic Instrument (DESI) Milky Way Survey, we examine the six-dimensional space of the anticenter region of the Milky Way stellar disk (150° < Galactic longitude < 220°) using 61,883 main-sequence turnoff stars. We focus on two well-known stellar overdensities in the anticenter: the Monoceros Ring (MRi) and Anticenter Stream (ACS). We find that the MRi overdensity has kinematic signatures consistent with a tidally induced spiral arm, a type of dynamic spiral arm created by an interaction with a satellite galaxy, most likely the Sagittarius dwarf spheroidal galaxy (Sgr). We use the kinematics of the MRi to calculate the two most recent passage times of Sgr, finding 0.25 ± 0.09 Gyr and 1.10 ± 0.23 Gyr from the present day. We validate that the ACS is kinematically decoupled from the MRi because they are moving in opposite radial and vertical directions. We find that the kinematics associated with the ACS extends beyond our defined overdensity. The features we see in the ACS region are likely part of a broader distribution of stars with the same kinematic signature as detected in other places, like the vertical wave in the outer disk and phase spiral.

Lambert, Mika [University of California, Santa Cru↗

NASA NTRS1987

Inverse kinematic-based robot control

A fundamental problem which must be resolved in virtually all non-trivial robotic operations is the well-known inverse kinematic question. More specifically, most of the tasks which robots are called upon to perform are specified in Cartesian (x,y,z) space, such as simple tracking along one or more straight line paths or following a specified surfacer with compliant force sensors and/or visual feedback. In all cases, control is actually implemented through coordinated motion of the various links which comprise the manipulator; i.e., in link space. As a consequence, the control computer of every sophisticated anthropomorphic robot must contain provisions for solving the inverse kinematic problem which, in the case of simple, non-redundant position control, involves the determination of the first three link angles, theta sub 1, theta sub 2, and theta sub 3, which produce a desired wrist origin position P sub xw, P sub yw, and P sub zw at the end of link 3 relative to some fixed base frame. Researchers outline a new inverse kinematic solution and demonstrate its potential via some recent computer simulations. They also compare it to current inverse kinematic methods and outline some of the remaining problems which will be addressed in order to render it fully operational. Also discussed are a number of practical consequences of this technique beyond its obvious use in solving the inverse kinematic question.

Wolovich, W. A.↗

NASA NTRS1989

The coupling effects of kinematics and flexibility on the Lagrangian dynamic formulation of open chain deformable links

A nonlinear Lagrangian formulation for the spatial kinematic and dynamic analysis of open chain deformable links consisting of cylindrical joints that connect pairs of flexible links is developed. The special cases of revolute or prismatic joint can also be obtained from the kinematic equations. The kinematic equations are described using a 4x4 matrix method. The configuration of each deformable link in the open loop kinematic chain is identified using a coupled set of relative joint variables, constant geometric parameters, and elastic coordinates. The elastic coordinates define the link deformation with respect to a selected joint coordinate system that is consistent with the kinematic constraints on the boundary of the deformable link. These coordinates can be introduced using approximation techniques such as Rayleigh-Ritz method, finite element technique or any other desired approach. The large relative motion between two neighboring links are defined by a set of joint coordinates which describes the large relative translational and rotational motion between two neighboring joint coordinate systems. The origin of these coordinate systems are rigidly attached to the neighboring links at the joint definition points along the axis of motion.

Changizi, Koorosh↗

NASA NTRS1991

Forward and inverse kinematics of double universal joint robot wrists

A robot wrist consisting of two universal joints can eliminate the wrist singularity problem found on many individual robots. Forward and inverse position and velocity kinematics are presented for such a wrist having three degrees of freedom. Denavit-Hartenberg parameters are derived to find the transforms required for the kinematic equations. The Omni-Wrist, a commercial double universal joint robot wrist, is studied in detail. There are four levels of kinematic parameters identified for this wrist; three forward and three inverse maps are presented for both position and velocity. These equations relate the hand coordinate frame to the wrist base frame. They are sufficient for control of the wrist standing alone. When the wrist is attached to a manipulator arm; the offset between the two universal joints complicates the solution of the overall kinematics problem. All wrist coordinate frame origins are not coincident, which prevents decoupling of position and orientation for manipulator inverse kinematics.

Williams, Robert L., II↗

NASA NTRS1992

Methodology issues concerning the accuracy of kinematic data collection and analysis using the ariel performance analysis system

Kinematics, the study of motion exclusive of the influences of mass and force, is one of the primary methods used for the analysis of human biomechanical systems as well as other types of mechanical systems. The Anthropometry and Biomechanics Laboratory (ABL) in the Crew Interface Analysis section of the Man-Systems Division performs both human body kinematics as well as mechanical system kinematics using the Ariel Performance Analysis System (APAS). The APAS supports both analysis of analog signals (e.g. force plate data collection) as well as digitization and analysis of video data. The current evaluations address several methodology issues concerning the accuracy of the kinematic data collection and analysis used in the ABL. This document describes a series of evaluations performed to gain quantitative data pertaining to position and constant angular velocity movements under several operating conditions. Two-dimensional as well as three-dimensional data collection and analyses were completed in a controlled laboratory environment using typical hardware setups. In addition, an evaluation was performed to evaluate the accuracy impact due to a single axis camera offset. Segment length and positional data exhibited errors within 3 percent when using three-dimensional analysis and yielded errors within 8 percent through two-dimensional analysis (Direct Linear Software). Peak angular velocities displayed errors within 6 percent through three-dimensional analyses and exhibited errors of 12 percent when using two-dimensional analysis (Direct Linear Software). The specific results from this series of evaluations and their impacts on the methodology issues of kinematic data collection and analyses are presented in detail. The accuracy levels observed in these evaluations are also presented.

Wilmington, R. P.↗

NASA NTRS2002

Comparisons of Kinematics and Dynamics Simulation Software Tools

Kinematic and dynamic analyses for moving bodies are essential to system engineers and designers in the process of design and validations. 3D visualization and motion simulation plus finite element analysis (FEA) give engineers a better way to present ideas and results. Marshall Space Flight Center (MSFC) system engineering researchers are currently using IGRIP from DELMIA Inc. as a kinematic simulation tool for discrete bodies motion simulations. Although IGRIP is an excellent tool for kinematic simulation with some dynamic analysis capabilities in robotic control, explorations of other alternatives with more powerful dynamic analysis and FEA capabilities are necessary. Kinematics analysis will only examine the displacement, velocity, and acceleration of the mechanism without considering effects from masses of components. With dynamic analysis and FEA, effects such as the forces or torques at the joint due to mass and inertia of components can be identified. With keen market competition, ALGOR Mechanical Event Simulation (MES), MSC visualNastran 4D, Unigraphics Motion+, and Pro/MECHANICA were chosen for explorations. In this study, comparisons between software tools were presented in terms of following categories: graphical user interface (GUI), import capability, tutorial availability, ease of use, kinematic simulation capability, dynamic simulation capability, FEA capability, graphical output, technical support, and cost. Propulsion Test Article (PTA) with Fastrac engine model exported from IGRIP and an office chair mechanism were used as examples for simulations.

Yeu-Sheng Paul Shiue↗

NASA NTRS2019

Implementation and Testing of Inverse Kinematics on Robotic Arm

COSIE (Coronal Spectrographic Imager in the Extreme Ultraviolet) is a proposed solar tracking ISS imaging payload that will help bridge the theoretical gap between the physics of the low corona and the heliosphere. This scientific instrument requires high pointing accuracy, on the order of arc seconds. The instrument is mounted on to a three revolute joint robotic arm in order to track the roll, pitch and yaw motion of the Sun. The goal of this project is to construct a prototype model of the robotic arm and implement the proposed analytical inverse kinematics algorithm. In robotics, the inverse kinematics problem is solving for the set of joint angles that achieve the desired end effect or location and/or orientation. In this case, orientation is the focus. Depending on the configuration, multiple sets of joint angle solutions may exist. Due to the complexity of robotics, typically iterative methods are used to solve for the joint angle solution sets. However, in this case, an analytical solution exists. A small robotic arm representative of the full size hardware was constructed. The inverse kinematics algorithm, originally in MATLAB/Simulink, was converted into C in order to interface with the motors. This C software was implemented on a Windows PC and micro-controller, and serial communication between the two was established, allowing the motors to be directly controlled by the inverse kinematics algorithm. Testing the inverse kinematics on a physical system will allow the validity and accuracy of the analytic solution to be verified.

Franz, Carter↗

DOE OSTI2022

Inferring safety critical events from vehicle kinematics in naturalistic driving environment: Application of deep learning Algorithms

Advances in sensing technology has enabled the collection of countless terabytes of second-by-second kinematics data. Such data provides opportunities for real-time monitoring of driving behavior and identification of safety critical events (SCEs) including crashes and near crashes. The concept of volatility is relevant in this context, which identifies instability and erratic variations in driving behavior prior to involvement in SCEs. This study utilized vehicle kinematics from a large-scale naturalistic driving data to develop a deep learning approach based on 1D convolutional neural networks (CNN) for inferring SCEs. The data are unique in the sense that such accurate pre-crash data at high fidelity are not available in traditional crash repositories. This study contributes to the literature by providing a first attempt at predicting responses to SCEs by developing deep learning-based CNN architectures using novel driving volatility based kinematic thresholds for a sample of 9553 events. The key contribution lies in developing a volatility-based CNN input layout that is acceptable to CNN schemes and represents the motion kinematics such as speed, acceleration and volatility measures. Several 1D-CNN architectures were developed using layers, numbers of convolutions, layer patterns, and kernels. Shallow and deep architectures were tested, revealing higher accuracy of shallow architectures in detecting SCEs. The optimal number of epochs were identified using an early stopping method while the CNN performance was improved by increasing the number of epochs. The ensemble CNN had the highest predictive accuracy of 95.6% for detection of crashes and near crashes, which was 2.5% higher than the optimal CNN using 20% hold out test data. The ensemble CNN also outperformed classical machine learning models and model performance reported in past studies on detection of SCEs. Finally, these results have implications for identification of safety hotspots and providing real-time alerts and warnings in connected and highly automated vehicle environment including society of automotive engineers levels 3–5.

42 ENGINEERING↗

DOE OSTI2023

Robust clustering of the local Milky Way stellar kinematic substructures with Gaia eDR3

Understanding local stellar kinematic substructures in the solar neighbourhood helps build a complete picture of the formation of the Milky Way, as well as an empirical phase space distribution of dark matter that would inform detection experiments. We apply the clustering algorithm HDBSCAN on the Gaia early third data release to identify a list of stable clusters in velocity space and action-angle space by taking into account the measurement uncertainties and studying the stability of the clustering results. We find 1405 (497) stars in 23 (6) robust clusters in velocity space (action-angle space) that are consistently not associated with noise. We discuss the kinematic properties of these structures and study whether many of the small clusters belong to a similar larger cluster based on their chemical abundances. They are attributed to the known structures: the Gaia Sausage-Enceladus, the Helmi Stream, and globular cluster NGC 3201 are found in both spaces, while NGC 104 and the thick disc (Sequoia) are identified in velocity space (action-angle space). Although we do not identify any new structures, we find that the HDBSCAN member selection of already known structures is unstable to input kinematics of the stars when resampled within their uncertainties. We therefore present the stable subset of local kinematic structures, which are consistently identified by the clustering algorithm, and emphasize the need to take into account error propagation during both the manual and automated identification of stellar structures, both for existing ones as well as future discoveries.

79 ASTRONOMY AND ASTROPHYSICS↗

DOE OSTI2021

On duality of color and kinematics in (A)dS momentum space

We explore color-kinematic duality for tree-level AdS/CFT correlators in momentum space. We start by studying the bi-adjoint scalar in AdS at tree-level as an illustrative example. We follow this by investigating two forms of color-kinematic duality in Yang-Mills theory, the first for the integrated correlator in AdS 4 and the second for the integrand in general AdS d +1 . For the integrated correlator, we find color-kinematics does not yield additional relations among n -point, color-ordered correlators. To study color-kinematics for the AdS d +1 Yang-Mills integrand, we use a spectral representation of the bulk-to-bulk propagator so that AdS diagrams are similar in structure to their flat space counterparts. Finally, we study color KLT relations for the integrated correlator and double-copy relations for the AdS integrand. We find that double-copy in AdS naturally relates the bi-adjoint theory in AdS d +3 to Yang-Mills in AdS d +1 . We also find a double-copy relation at three-points between Yang-Mills in AdS d +1 and gravity in AdS d– 1 and comment on the higher-point generalization. By analytic continuation, these results on AdS/CFT correlators can be translated into statements about the wave function of the universe in de Sitter.

gauge-gravity correspondence↗

DOE OSTI2023

Color-kinematics dual representations of one-loop matrix elements in the open-superstring effective action

Abstract Theα ′ -expansion of string theory provides a rich set of higher-dimension operators, indexed byζvalues, which can be used to study color-kinematics duality and the double copy. These two powerful properties, actually first noticed in tree-level string amplitudes, simplify the construction of both gauge and gravity amplitudes. However, their applicability and limitations are not fully understood. We attempt to construct a set of color-kinematics dual numerators at one loop and four points for insertions of operator combinations corresponding to the lowest fourζ 2 -free operator insertions from the open superstring:ζ 3 ,ζ 5 ,$$ {\zeta}_3^2 $$ ζ 3 2 , andζ 7 . We succeed in finding a representation for the first three in terms of box, triangle, and bubble numerators. In the case ofζ 7 we find an obstruction to a fully color-dual representation related to the bubble-on-external-leg type diagrams. We discuss two paths around this obstruction, both of which signal an incompatability between color-kinematics duality and manifesting certain desired properties. Using the constructed color-dual numerators, we find two different Bern-Carrasco-Johansson double copies that produce candidate closed-string-insertion numerators. Both approaches to the double copy match the kinematics of the cuts, with relative normalization set by either summing over both double copies including degeneracy or by including an explicit prefactor on the double-copy numerator definitions.

Physics↗

DOE OSTI2021

Higher-order kinematical effects in deeply virtual Compton scattering

We study the deeply virtual Compton scattering cross-section in twist-two generalized parton distribution (GPD) approximation, and show that different choices of light-cone vectors and gauges for the final photon polarization will lead to different higher-order kinematical corrections to the cross-section formula. The choice of light-cone vectors affects kinematic corrections at the twist-three level, accounting for the differences between the cross-section formulas in the literature. On the other hand, kinematical corrections from higher-twist GPDs should eliminate the light-cone dependence at twist three. Those light-cone dependencies are studied systematically at JLab 12 GeV and future EIC kinematics. They serve as the intrinsic systematic uncertainties in extracting the Compton form factors through the cross-section formula. More importantly, they are also necessary for understanding cross-section measurements with higher-twist precision and to reconstruct higher-order Compton form factors.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

DOE OSTI2025

The influence of kinematics of deformation on polycrystalline halite dynamic recrystallization: Full-field simulation of simple shear versus pure shear

Rock salt, composed mainly of halite, flows viscoplastically over a wide range of geological conditions, strongly impacting the dynamic evolution of sedimentary basins and orogens. Understanding how dislocation creep, which involves dislocation glide, intracrystalline recovery and dynamic recrystallization, influences the microstructure and rheology of halite under various deformation kinematics and temperatures is crucial for enhancing knowledge of salt flow dynamics. Here, this study employs a full-field numerical simulation method to compare the viscoplastic deformation of polycrystalline halite under simple shear and pure shear conditions up to a natural strain of ε = 1.5 at temperatures ranging from 100 °C to 300 °C. The results are presented in terms of crystallographic preferred orientation (CPO), grain shape preferred orientation (SPO), subgrain boundary direction, grain size and strain rate distribution. The results indicate that the crystallographic anisotropy of individual halite crystals is transferred to the polycrystalline scale, resulting in strain localization, particularly in simple shear simulations. The kinematics of deformation affect the evolution and distribution of high strain-rate bands, determining the direction of intragranular substructures and the morphology of strain-induced grain boundaries, with minimal impact on grain size. The intensity of grain boundary migration increases with temperature, significantly influencing grain morphology and size, thereby obscuring strain localization, while having little effect on CPOs. At low strain (ε < 1.0), CPOs relative to both the maximum shortening direction and the grain SPO are similar regardless of the deformation kinematics. At high strain (ε > 1.0), simple shear CPOs exhibit three stronger {100} maxima with a monoclinic symmetry relative to the grain SPO compared to the six {100} maxima with an orthotropic symmetry relative to the grain SPO generated under pure shear. Therefore, microstructures and CPOs can serve as indicators of the strain path in polycrystalline halite under various conditions, aiding in determining the shear sense and elucidating the deformation kinematics of salt structures.

58 GEOSCIENCES↗

DOE OSTI2026

Disentangling multiple gas kinematic drivers in the Perseus galaxy cluster

Galaxy clusters, the Universe’s largest halo structures, are filled with an X-ray-emitting gas with a temperature between 10 million and 100 million degrees. Their evolution is shaped by energetic processes such as feedback from supermassive black holes (SMBHs) and mergers with other cosmic structures. The imprints of these processes on gas kinematics remain largely unknown, restricting our understanding of energy conversion within clusters4. High-resolution spectral mapping with the X-Ray Imaging and Spectroscopy Mission (XRISM) observatory offers a way forward. Here we present XRISM kinematic measurements of the Perseus cluster, radially covering the extent of its cool core. We find direct evidence for at least two dominant drivers of gas motions operating on distinct physical scales: a small-scale driver in the inner approximately 60 kpc, probably associated with the SMBH feedback; and a large-scale driver in the outer core, powered by mergers. This finding suggests that, during the active phase, SMBH feedback drives gas motions, which, if fully dissipated into heat, could have a substantial role in offsetting radiative cooling losses in the Perseus core. Furthermore, our study underscores the necessity of kinematic mapping observations of extended sources to robustly characterize the velocity fields and their role in the evolution of massive halos. It further offers a kinematic diagnostic for SMBH feedback models.

Astronomy and AstroPhysics↗

DOE OSTI2022

Deeply learning deep inelastic scattering kinematics

We study the use of deep learning techniques to reconstruct the kinematics of the neutral current deep inelastic scattering (DIS) process in electron–proton collisions. In particular, we use simulated data from the ZEUS experiment at the HERA accelerator facility, and train deep neural networks to reconstruct the kinematic variables Q 2 and x. Our approach is based on the information used in the classical construction methods, the measurements of the scattered lepton, and the hadronic final state in the detector, but is enhanced through correlations and patterns revealed with the simulated data sets. We show that, with the appropriate selection of a training set, the neural networks sufficiently surpass all classical reconstruction methods on most of the kinematic range considered. Rapid access to large samples of simulated data and the ability of neural networks to effectively extract information from large data sets, both suggest that deep learning techniques to reconstruct DIS kinematics can serve as a rigorous method to combine and outperform the classical reconstruction methods.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

DOE OSTI2021

Refinements to the Graves–Pitarka Kinematic Rupture Generator, Including a Dynamically Consistent Slip-Rate Function, Applied to the 2019 Mw 7.1 Ridgecrest Earthquake

The main objective of this study is to develop physics–based constraints on the spatiotemporal variation of the slip–rate function using a simplified dynamic rupture model. First, we performed dynamic rupture modeling of the 2019 M w 7.1 Ridgecrest, California, earthquake, to analyze the effects of depth–dependent stress and material friction on slip rate. Then, we used our modeling results to guide refinements to the slip–rate function that were implemented in the Graves–Pitarka kinematic rupture generation technique. The dynamic ruptures were computed on a surface–rupturing, planar strike–slip fault that includes a weak (negative to low–stress–drop) zone in the upper 4 km of the crust. Below the weak zone, we placed high–stress–drop patches designed to mirror the large–slip areas seen in various rupture model inversions of the event. The locations of the high–stress–drop patches and the hypocenter were varied in multiple realizations to investigate how changing the dynamic conditions affected the resulting rupture kinematics, in particular, the slip rate. From these simulations, we observed a systematic change in the shape of the slip–rate function from Kostrov type below the weak zone to a predominantly symmetric shape within the weak zone, along with a depth–dependent reduction of peak slip rate. We generalized these shallow rupture features into a depth–dependent parametric variation of the slip–rate function and implemented it in the Graves–Pitarka kinematic rupture model generator. The performance of the updated kinematic approach was then verified in 0–4 Hz simulations of the M w 7.1 Ridgecrest earthquake, which showed that incorporating the depth–dependent variation in the shape of the slip–rate function improves the fit to the observed near–fault ground motions in the 0.5–3 s period range.

58 GEOSCIENCES↗