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At least 91 records · Page 5
All sourcesNASA NTRSDOE OSTI
DOE OSTI2024

Measurement of nuclear effects in neutrino-argon interactions using generalized kinematic imbalance variables with the MicroBooNE detector

We present a set of new generalized kinematic imbalance variables that can be measured in neutrino scattering. These variables extend previous measurements of kinematic imbalance on the transverse plane and are more sensitive to modeling of nuclear effects. We demonstrate the enhanced power of these variables using simulation and then use the MicroBooNE detector to measure them for the first time. We report flux-integrated single- and double-differential measurements of charged-current muon neutrino scattering on argon using a topology with one muon and one proton in the final state as a function of these novel kinematic imbalance variables. These measurements allow us to demonstrate that the treatment of charged current quasielastic interactions in genie version 2 is inadequate to describe data. As a result, they reveal tensions with more modern generator predictions particularly in regions of phase space where final state interactions are important.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2024

Exploring the synergy of kinematics and dynamics for collider physics

In collider experiments, an event is characterized by two distinct yet mutually complementary features: the “global features” and the “local features.” Kinematic information such as the event topology of a hard process, masses, and spins of particles comprises global features spanning the entire phase space. This global feature can be inferred from reconstructed objects. In contrast, representations of particles in gauge groups, such as quantum chromodynamics (QCD), offer localized features revealing the dynamics of an underlying theory. These local features, particularly observed in the patterns of radiation as raw data in various detector components, complement the global kinematic features. We propose a simple but effective neural network architecture that seamlessly integrates information from both kinematics and QCD to enhance the signal sensitivity at colliders. Published by the American Physical Society 2024

Ban, Kayoung (ORCID:000000019691877X)↗
DOE OSTI2020

Extraction of Beam-Spin Asymmetries from the Hard Exclusive π + Channel off Protons in a Wide Range of Kinematics

We have measured beam-spin asymmetries to extract the $\sin\phi$ moment $A_{LU}^{\sin\phi}$ from the hard exclusive $\vec{e} p \to e^\prime n \pi^+$ reaction above the resonance region, for the first time with nearly full coverage from forward to backward angles in the center-of-mass. The $A_{LU}^{\sin\phi}$ moment has been measured up to 6.6 GeV$^{2}$ in $-t$, covering the kinematic regimes of Generalized Parton Distributions (GPD) and baryon-to-meson Transition Distribution Amplitudes (TDA) at the same time. The experimental results in very forward kinematics demonstrate the sensitivity to chiral-odd and chiral-even GPDs. In very backward kinematics where the TDA framework is applicable, we found $A_{LU}^{\sin\phi}$ to be negative, while a sign change was observed near 90$^\circ$ in the center-of-mass. The unique results presented in this paper will provide critical constraints to establish reaction mechanisms that can help to further develop the GPD and TDA frameworks.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2021

Quasi-free scattering in inverse kinematics as a tool to unveil the structure of nuclei: A tribute to Mahir S. Hussein

Abstract Quasi-free scattering of electrons and protons has been extensively utilized in the past to study the single-particle structure of nuclei, clustering in light nuclei, and short-range correlated nucleon–nucleon pairs in nuclei. Recently, this approach has been applied in inverse kinematics using hydrogen targets. The characteristic features of this reaction and the experimental challenges and advantages of inverse-kinematics experiments are summarized. The applicability to radioactive beams opens a large research potential to study a variety of properties of neutron-to-proton asymmetric nuclei. Applications of quasi-free scattering in inverse kinematics and its potential are reviewed based on recent and ongoing research programs at different accelerator facilities worldwide.

Physics↗
DOE OSTI2022

Drive-Leg Kinematics During the Windup and Pushoff Is Associated With Pitching Kinetics at Later Phases of the Pitch

Background: Inconsistent findings exist between drive-leg ground-reaction forces (GRFs) and pitching mechanics. Previous literature has largely reported drive-leg mechanics and GRFs at the start of the pushoff phase for their role in initiating force development. Little research has assessed drive-leg kinematics that includes a pitcher’s windup motion to determine its effects on subsequent phases in the pitching motion. Purpose/Hypothesis: The primary aim was to analyze the relationship between drive-leg knee valgus angle during the windup and subsequent pitching mechanics. We hypothesized that the drive-leg knee valgus angle during the early portion of the pitching motion would alter later phases’ pitching mechanics. A secondary aim was to assess GRFs to determine if the drive-leg knee valgus angle was associated with changes in force. We hypothesized that an increased drive-leg knee valgus angle would increase GRFs during the pitching motion. Study Design: Descriptive laboratory study. Methods: A total of 17 high school baseball pitchers (mean age, 16.1 ± 0.9 years; mean height, 180.0 ± 4.8 cm; mean weight, 75.5 ± 7.5 kg) volunteered for the study. Kinematic data and GRFs were collected using an electromagnetic tracking system and force plates. Pitchers threw maximal-effort fastballs from a mound at regulation distance. The drive-leg knee valgus angle was analyzed during the windup and pushoff phases of the pitch to determine its effects on other biomechanical variables throughout the pitching motion. Results: There was a significant relationship between drive-leg knee valgus angle during the windup ( Fchange 1,12) = 16.13; P = .002; R 2 = 0.695) and lateral GRF in the arm-cocking phase. Additionally, there was a significant relationship between drive-leg knee valgus angle during pushoff ( Fchange(2,11) = 10.21; P = .003; R 2 = 0.716) and lateral GRF in the arm-cocking phase and pitching-elbow valgus moment in the acceleration phase. Conclusion: Drive-leg knee valgus angle during the windup and pushoff had a significant relationship with drive-leg GRF and pitching-elbow valgus moment at later stages of the pitching cycle. Clinical Relevance: Assessments of drive-leg kinematics during the windup and pushoff may be useful in identifying inefficient movement patterns that can have an effect on the direction of a pitcher’s drive-leg force contribution, which can lead to increased forces on the throwing elbow.

Orthopedics↗
DOE OSTI2024

Enforcing Self-Consistent Kinematic Constraints in Neutrino Energy Estimators

Machine learning algorithms have long been utilized across many experimental collaborations within the neutrino physics community in applications to ascertain the singular kinematic quantity of initial neutrino energy for use in neutrino oscillation analyses. However, most of these algorithms do not incorporate a coherent physical picture of initial neutrino kinematics, opting to introduce loss functions involving knowledge of only |pν |. Here, we argue for the introduction of composite loss functions utilizing the full kinematic description of the neutrino, pν ≡ (E, px, py , pz ), compiling all relevant energy and angle information consistently. The use of such a fully defined variable can be seen as a usage of Physics Informed Machine Learning.

Richi, R. R.↗
DOE OSTI2021

NGC 6845 Revisited: Stellar Kinematics on the Early Type Member Galaxies

We observed the compact group of galaxies NGC 6845 with GMOS-S imaging and long-slit spectroscopy. The group itself is comprised of two spiral galaxies and two S0 galaxies, and shows signs of gravitational interaction among them. While the spiral galaxies have been already well studied, the two S0 galaxies have received little attention. We investigate the morphology and stellar kinematics of the two S0 galaxies in detail in order to derive the value for their mass and subsequently incorporate them into the mass model for the group. It was found that the internal kinematics of the largest S0 (NGC 6845 C) is mostly regular, while the smallest S0 (NGC 6845 D) shows some hint of interaction, most likely with NGC 6845 C and NGC 6845 A. The new determination of the dynamical mass of the group implies that the group mass has to be 10 times the combined mass of the individual members according to their internal kinematics. The results point to an early stage of the group interaction and also to the possibility that it has still not reached virial equilibrium. From the galaxy evolution viewpoint, this group represents an example of the case of the transformation of Spirals into S0 galaxies in dense environments.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
DOE OSTI2022

Substructure at High Speed. I. Inferring the Escape Velocity in the Presence of Kinematic Substructure

Abstract The local escape velocity provides valuable inputs to the mass profile of the galaxy, and requires understanding the tail of the stellar speed distribution. Following Leonard & Tremaine, various works have since modeled the tail of the stellar speed distribution as ∝ ( v esc − v ) k , where v esc is the escape velocity, and k is the slope of the distribution. In such studies, however, these two parameters were found to be largely degenerate and often a narrow prior is imposed on k in order to constrain v esc . Furthermore, the validity of the power-law form can breakdown in the presence of multiple kinematic substructures or other mis-modeled features in the data. In this paper, we introduce a strategy that for the first time takes into account the presence of kinematic substructure. We model the tail of the velocity distribution as a sum of multiple power laws as a way of introducing a more flexible fitting framework. Using mock data and data from FIRE simulations of Milky Way-like galaxies, we show the robustness of this method in the presence of kinematic structure that is similar to the recently discovered Gaia Sausage. In a companion paper, we present the new measurement of the escape velocity and subsequently the mass of the Milky Way using Gaia eDR3 data.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2023

Structure, Kinematics, and Observability of the Large Magellanic Cloud’s Dynamical Friction Wake in Cold versus Fuzzy Dark Matter

Abstract The Large Magellanic Cloud (LMC) will induce a dynamical friction (DF) wake on infall to the Milky Way (MW). The MW’s stellar halo will respond to the gravity of the LMC and the dark matter (DM) wake, forming a stellar counterpart to the DM wake. This provides a novel opportunity to constrain the properties of the DM particle. We present a suite of high-resolution, windtunnel-style simulations of the LMC's DF wake that compare the structure, kinematics, and stellar tracer response of the DM wake in cold DM (CDM), with and without self-gravity, versus fuzzy DM (FDM) with m a = 10 −23 eV. We conclude that the self-gravity of the DM wake cannot be ignored. Its inclusion raises the wake’s density by ∼10%, and holds the wake together over larger distances (∼50 kpc) than if self-gravity is ignored. The DM wake’s mass is comparable to the LMC’s infall mass, meaning the DM wake is a significant perturber to the dynamics of MW halo tracers. An FDM wake is more granular in structure and is ∼20% dynamically colder than a CDM wake, but with comparable density. The granularity of an FDM wake increases the stars’ kinematic response at the percent level compared to CDM, providing a possible avenue of distinguishing a CDM versus FDM wake. This underscores the need for kinematic measurements of stars in the stellar halo at distances of 70–100 kpc.

79 ASTRONOMY AND ASTROPHYSICS↗
NASA NTRS1986

Inverse kinematic solution for near-simple robots and its application to robot calibration

This paper provides an inverse kinematic solution for a class of robot manipulators called near-simple manipulators. The kinematics of these manipulators differ from those of simple-robots by small parameter variations. Although most robots are by design simple, in practice, due to manufacturing tolerances, every robot is near-simple. The method in this paper gives an approximate inverse kinematics solution for real time applications based on the nominal solution for these robots. The validity of the results are tested both by a simulation study and by applying the algorithm to a PUMA robot.

Hayati, Samad A.↗
NASA NTRS1987

An optimal resolved rate law for kinematically redundant manipulators

The resolved rate law for a manipulator provides the instantaneous joint rates required to satisfy a given instantaneous hand motion. When the joint space has more degrees of freedom than the task space, the manipulator is kinematically redundant and the kinematic rate equations are underdetermined. These equations can be locally optimized, but the resulting pseudo-inverse solution has been found to cause large joint rates in some cases. A weighting matrix in the locally optimized (pseudo-inverse) solution is dynamically adjusted to control the joint motion as desired. Joint reach limit avoidance is demonstrated in a kinematically redundant planar arm model. The treatment is applicable to redundant manipulators with any number of revolute joints and to non-planar manipulators.

Bourgeois, B. J.↗
NASA NTRS1988

Analysis of a closed-kinematic chain robot manipulator

Presented are the research results from the research grant entitled: Active Control of Robot Manipulators, sponsored by the Goddard Space Flight Center (NASA) under grant number NAG-780. This report considers a class of robot manipulators based on the closed-kinematic chain mechanism (CKCM). This type of robot manipulators mainly consists of two platforms, one is stationary and the other moving, and they are coupled together through a number of in-parallel actuators. Using spatial geometry and homogeneous transformation, a closed-form solution is derived for the inverse kinematic problem of the six-degree-of-freedom manipulator, built to study robotic assembly in space. Iterative Newton Raphson method is employed to solve the forward kinematic problem. Finally, the equations of motion of the above manipulators are obtained by employing the Lagrangian method. Study of the manipulator dynamics is performed using computer simulation whose results show that the robot actuating forces are strongly dependent on the mass and centroid locations of the robot links.

Nguyen, Charles C.↗
NASA NTRS1989

Kinematic modeling of the Galaxy. I - The Yale Bright Star Catalogue

A code has been developed to investigate the kinematic properties of stellar populations of the Galaxy by modeling the distributions of proper motion and line-of-sight velocity. The coordinate frames of reference are discussed in detail and the general matrix transformations valid beyond the solar neighborhood are given. As a first application, the kinematic properties of the magnitude-selected sample of 3993 stars in the Bright Star Catalogue with V less than 6.0 and (B-V) greater than 0 are selected. The observed kinematic distributions are compared with a conventional model that has an exponential disk with scale heights, components of velocity dispersion ellipsoid, and asymmetric drift taken from the literature and defined as functions of spectral type. The comparisons suggest that a significant fraction of the Bright Star Catalogue belongs to a relatively young population that is not properly represented in the model.

Ratnatunga, Kavan U.↗
NASA NTRS1989

Stellar kinematics in the galactic centre

The observations of the stellar kinematics in the central 8 pc of the Galaxy are presented. It is shown that the spectroscopy of the 2.3 microns CO absorption feature, in late type stars, yields the stellar velocity dispersion and the average stellar radial velocity as a function of galactocentric distance. A sample spectra that illustrates the observed velocity shifrs and velocity dispersion is given. The analysis shows that the velocity dispersion of the stars is large, and that it dominates the stellar kinematics. The use of these kinematic data, to probe the mass distribution in the Galactic center, is considered.

Mcginn, M. T.↗
NASA NTRS1989

Modeling of control forces for kinematical constraints in the dynamics of multibody systems: A new approach

Conventionally kinematical constraints in multibody systems are treated similar to geometrical constraints and are modeled by constraint reaction forces which are perpendicular to constraint surfaces. However, in reality, one may want to achieve the desired kinematical conditions by control forces having different directions in relation to the constraint surfaces. The conventional equations of motion for multibody systems subject to kinematical constraints are generalized by introducing general direction control forces. Conditions for the selections of the control force directions are also discussed. A redundant robotic system subject to prescribed end-effector motion is analyzed to illustrate the methods proposed.

Ider, Sitki Kemal↗
NASA NTRS1989

Kinematics, controls, and path planning results for a redundant manipulator

The inverse kinematics solution, a modal position control algorithm, and path planning results for a 7 degree of freedom manipulator are presented. The redundant arm consists of two links with shoulder and elbow joints and a spherical wrist. The inverse kinematics problem for tip position is solved and the redundant joint is identified. It is also shown that a locus of tip positions exists in which there are kinematic limitations on self-motion. A computationally simple modal position control algorithm has been developed which guarantees a nearly constant closed-loop dynamic response throughout the workspace. If all closed-loop poles are assigned to the same location, the algorithm can be implemented with very little computation. To further reduce the required computation, the modal gains are updated only at discrete time intervals. Criteria are developed for the frequency of these updates. For commanding manipulator movements, a 5th-order spline which minimizes jerk provides a smooth tip-space path. Schemes for deriving a corresponding joint-space trajectory are discussed. Modifying the trajectory to avoid joint torque saturation when a tip payload is added is also considered. Simulation results are presented.

Gretz, Bruce↗
NASA NTRS1989

Computational neural learning formalisms for manipulator inverse kinematics

An efficient, adaptive neural learning paradigm for addressing the inverse kinematics of redundant manipulators is presented. The proposed methodology exploits the infinite local stability of terminal attractors - a new class of mathematical constructs which provide unique information processing capabilities to artificial neural systems. For robotic applications, synaptic elements of such networks can rapidly acquire the kinematic invariances embedded within the presented samples. Subsequently, joint-space configurations, required to follow arbitrary end-effector trajectories, can readily be computed. In a significant departure from prior neuromorphic learning algorithms, this methodology provides mechanisms for incorporating an in-training skew to handle kinematics and environmental constraints.

Gulati, Sandeep↗
NASA NTRS1989

Multiple cooperating manipulators: The case of kinematically redundant arms

Existing work concerning two or more manipulators simultaneously grasping and transferring a common load is continued and extended. Specifically considered is the case of one or more arms being kinematically redundant. Some existing results in the modeling and control of single redundant arms and multiple manipulators are reviewed. The cooperating situation is modeled in terms of a set of coordinates representing object motion and internal object squeezing. Nominal trajectories in these coordinates are produced via actuator load distribution algorithms introduced previously. A controller is developed to track these desired object trajectories while making use of the kinematic redundancy to additionally aid the cooperation and coordination of the system. It is shown how the existence of kinematic redundancy within the system may be used to enhance the degree of cooperation achievable.

Walker, Ian D.↗