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Adjusting a Full Body Model to Mitigate Inverse Kinematics Artifacts in Opensim

BACKGROUND: In support of Vibration Isolation and Stabilization (VIS) system development for Human Health Countermeasures (HHC) exercise systems in space, such as the European Enhanced Exploration Exercise Device (E4D) [1], dynamic quantities required to model the response of a proposed VIS while considering the effect of VIS motion on the forces between the human and VIS platform were obtained using motion capture data [2]. On occasion, large-amplitude oscillatory spikes were found in the subject’s linear and angular momentum derivatives, affecting analyses that depend on forces and moments derived from motion capture. The purpose of this investigation was to identify causes of these artifacts and techniques for their resolution. METHODS AND RESULTS: To obtain the required human dynamic quantities to drive the VIS simulation, motion capture data was collected containing recorded trajectories of passive retroreflective markers on body landmarks of an exercising subject. Since the full body Rajagopal model [3] was originally used to enhance gait analysis, upper body joints did not require large Ranges of Motion (ROM). We thus modified the Rajagopal model [4, 5] to allow it to be used for upper body intensive exercises like those common to the E4D. OpenSim Inverse Kinematics (IK) [6] was performed using these scaled subject models to generate the joint angles throughout the exercise while minimizing marker error. At times, the arms were observed to ‘snap’ from one configuration to another, causing spike artifacts. Following IK, a custom OpenSim plugin [7] was used to determine the required dynamic quantities including the rates of change of the linear and angular momenta of the human. Since motion capture is recorded at a larger time step than required by the VIS simulation, the human center of mass location was fit with splines and a second derivative taken to obtain the momentum derivative, allowing the VIS simulation to maintain conservation of momentum when appropriate. In a few cases during this stage, artifacts much larger than the expected noise of the second derivatives were introduced. Investigation of cases containing artifacts revealed several modifications that could be made to the OpenSim model to improve IK results. Since OpenSim models use Euler angles and rotation sequences, ‘gimbal lock’ would be encountered in the arms when raised 90 degrees to the side (e.g., T-pose, some hang clean exercise, etc.). This was resolved by reorienting the horizontal axes at the shoulder joint by 45 degrees, placing ‘gimbal lock’ outside common arm ROM, with the arm ROMs adjusted following this change. Elbow and wrist ROMs could also be adjusted to allow realistic motion while at the same time limiting the likelihood of unrealistic orientations. On occasion, the arms flipped backwards when raised above the head. This was prevented by using medial elbow markers in scaling and IK. When medial markers were not available, the acromial joint location in the unscaled model was shifted before model scaling to better align the arm with available markers. Lastly, artifacts which became apparent after taking the second derivatives of spline-fit data were found to occur in cases when the pelvis rotation limit prevented the full range of motion of an exercise. These issues were resolved by unclamping the pelvis rotation limit. Through this investigation, an understanding of conditions leading to IK artifacts was acquired allowing the automation of artifact detection. These artifact detection and mitigation techniques can be applied toward modeling of upper body motions in aerospace and other fields for improved IK results.

C A Bell↗
DOE OSTI2018

Spectral and dynamical analysis of a single vortex ring in anisotropic harmonically trapped three-dimensional Bose-Einstein condensates

Here in the present work, motivated by numerous recent experimental developments we revisit the dynamics of a single vortex ring in anisotropic harmonic traps. At the theoretical level, we start from a general Lagrangian dynamically capturing the evolution of a vortex ring and not only consider its spectrum of linearized excitations, but also explore the full nonlinear dynamical evolution of the ring as a vortical filament. The theory predicts that the ring is stable for 1 ≤ λ ≤ 2, where λ = ω z /ω r is the ratio of the trapping frequencies along the z and r axes, i.e., for spherical to slightly oblate condensates. We compare this prediction with direct numerical simulations of the full three-dimensional Gross-Pitaevskii equation (GPE) capturing the linearization spectrum of the ring for different values of the chemical potential and as a function of the anisotropy parameter λ . We identify this result as being only asymptotically valid as the chemical potential μ → ∞, revealing how the stability interval narrows and, in particular, its upper bound decreases for finite μ. Finally, we compare at the dynamical level the results of the GPE with the ones effectively capturing the ring dynamics, revealing the unstable evolution for different values of λ, as well as the good agreement between the two.

74 ATOMIC AND MOLECULAR PHYSICS↗
NASA NTRS2003

Characterization of High-Frequency Excitation of a Wake by Simulation

Insights into the effects of high-frequency forcing on free shear layer evolution are gained through analysis of several direct numerical simulations. High-frequency forcing of a fully turbulent plane wake results in only a weak transient effect. On the other hand, significant changes in the developed turbulent state may result when high-frequency forcing is applied to a transitional wake. The impacts of varying the characteristics of the high-frequency forcing are examined, particularly, the streamwise wavenumber band in which forcing is applied and the initial amplitude of the forcing. The high-frequency excitation is found to increase the dissipation rate of turbulent kinetic energy, to reduce the turbulent kinetic energy production rate, and to reduce the turbulent kinetic energy suppression increases with forcing amplitude once a threshold level has been reached. For a given initial forcing energy, the largest reduction in turbulent kinetic energy density was achieved by forcing wavenumbers that are about two to three times the neutral wavenumber determined from linear stability theory.

Cain, Alan B.↗
DOE OSTI2020

Effects of secondary void-initiating particles on the steady-state crack growth resistance of high-strength steel

In this investigation, we focus on the dependence of stable crack growth resistance, as measured by the short-rod fracture toughness test, on secondary void-initiating particles such as AlN and Ti-based grain-refining precipitates in a variety of high-strength steels with tempered martensitic microstructures. The model developed by Ritchie and Thompson is modified to illustrate the significant amounts of toughening that can result from the refinement of secondary particles. Analysis of the data suggests that material strength is a predominant factor in increasing the short-rod fracture toughness relative to linear-elastic measures of initiation fracture toughness, but the extent of toughening is limited by the size and number density of secondary particles in the microstructure. The variation in estimates of secondary microvoid initiation and growth strains with precipitate size reinforce the notion that primary fracture at non-metallic inclusions and secondary fracture at smaller particles occur as sequential processes with a degree of concurrence that is dependent on the state of precipitation in both particle dispersions. Toughening in this connection is maximized by increases in microvoid growth strain that result from decreases in the size and areal number density of secondary void-initiating particles. Finally, the occurrence of transient instabilities during crack extension in short-rod specimens is explained with a phenomenological model that relates crack growth stability to natural variations in the dispersion of secondary void-initiating particles in the microstructure.

42 ENGINEERING↗
DOE OSTI2021

Stability of Pt Skin Intermetallic Core Catalysts and Adsorption Properties for the Oxygen Reduction Reaction

Density functional theory calculations were used to determine the stability of metal slabs consisting of a Pt surface monolayer and intermetallic supporting layers made from combinations of six transition metal elements (Pt, Fe, Co, Ni, Cu, and Ag), as a model system for Pt skin intermetallic core nanoparticle catalysts. The stability of the slabs is largely determined by strain at the interface of the Pt skin and the subsurface intermetallic, which was described by a lattice matching parameter (r). The surface charge on the Pt skin was found to be correlated with the average electronegativity (EN) of the intermetallic core, so this average EN was used as a descriptor for how the electronic coupling (or ligand effect) affects adsorption energies. A total of 46 slabs were investigated in terms of their stability, from which 10 stable slabs were selected for further studies of adsorbate binding (OOH*, O*, and OH*) that are intermediates in the oxygen reduction reaction (ORR). The correlation between all three adsorption energies and descriptors r and EN was found. Using a linear fit between our descriptors and the calculated adsorption energies, the overpotential for the ORR was obtained as a function of r and EN, from which a volcano plot was produced. The volcano peak was found at r = 0.96 or at EN = 2.025. Interestingly, neither r nor EN was a sufficient single reactivity descriptor as the data points were well off the general trend in both linear fits; this implies that both the strain effect and the ligand effect influence the adsorption energies, although they are partly correlated. The (r, EN) target peak parameters were used to screen over 241 intermetallic combinations of transition metal elements as active ORR activity. In conclusion, this analysis identified 11 intermetallic compounds which can support a Pt skin to have a high predicted ORR activity.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2025

Interfacial reconstruction effects in insulating double perovskite Nd2NiMnO6/SrTiO3 and Nd2NiMnO6/NdGaO3 thin films

Ferromagnetic insulating (FMI) double perovskite oxides (DPOs) A2BB′O6 with near-room-temperature Curie temperatures are promising candidates for ambient-temperature spintronics applications. To realize their potential, epitaxial stabilization of DPO films and understanding the effect of multiple broken symmetries across the film/substrate interface are crucial. This study investigates ultrathin films of the FMI Nd2NiMnO6 grown on SrTiO3 (STO) and NdGaO3 (NGO) substrates. By comparing growth on these substrates, we examine the influence of polarity and structural symmetry mismatches, which are absent in the NGO system. The interface exhibits immeasurable resistance in both cases. Using synchrotron x-ray diffraction, we show that films have three octahedral rotational domains because of the structural symmetry mismatch with the STO substrate. Furthermore, our coherent Bragg rod analysis of specular x-ray diffraction reveals a significant modification of the out-of-plane lattice parameter within a few unit cells at the film/substrate interface and the surface. This arises from polarity compensation and surface symmetry breaking, respectively. These structural alterations influence the Mn orbital symmetry, a dependence that we further confirm through x-ray linear dichroism measurements. Since the ferromagnetism in insulating DPOs is mediated by orbital-dependent superexchange interactions [Phys. Rev. Lett. 100, 186402 (2008)0031-900710.1103/PhysRevLett.100.186402], our study provides a framework for understanding the evolution of magnetism in ultrathin geometry.

Bhattacharya, Nandana↗
DOE OSTI2016

Asperity generation and its relationship to seismicity on a planar fault: A laboratory simulation

Earthquake faults, and all frictional surfaces, establish contact through asperities. A detailed knowledge of how asperities form will enable a better understanding of the manner in which they communicate during foreshock failure sequences that are observed, leading to the larger main shock. We present results of experiments where a pressure sensitive film was used to map, size and measure the magnitudes of the normal stresses at asperities along a seismogenic section of a laboratory simulated fault. We measured seismicity acoustically and foreshocks were found to be the result of localized asperity failure during the nucleation phase of gross fault rupture. Since surface roughness plays an important role in how asperities are formed, two Hurst exponents were measured to characterize a highly worn interface using roughness profiles: (i) long wavelength estimates (H ~ 0.45) and (ii) short wavelength estimates (H ~ 0.8-1.2). The short wavelength roughness estimates were computed at the scale of single asperity junction points. Macroscopically, the number of asperities and real contact area increased with additional application of normal force while the mean normal stress remained constant. The ratio of real to nominal contact area was low - ranging from 0.02 < A r /A 0 < 0.05-predicting that the asperities should be elastically independent of each other. Results from the pressure sensitive film showed that asperities were closely spaced and could not be treated as mechanically independent. Larger asperities carried both higher levels of average normal stress and higher levels of normal stress heterogeneity than smaller ones. Using linear stability theorem, the critical slip distance on foreshocking asperities was estimated to be d 0 ~ 0.65-3 μm. The critical slip distance d 0 was ~1.8-11.5 per cent of the premonitory slip needed to initiate gross fault rupture of the interface (20-40 μm) and the overall slip necessary to initiate gross fault rupture was on the order of the average asperity diameter (52 μm). In conclusion, foreshocks may be due to a change in the critical slip distance, at localized sections of the fault, caused by the two distinct roughness profiles measured at short and long length scales.

58 GEOSCIENCES↗
DOE OSTI2019

Proton Beam Emittance Growth due to Centroid Fluctuations in Strongly Disrupted Electron Bunches in the Linac-Ring eRHIC

In the energy recovery linac (ERL) based eRHIC design, the electron beam, accelerated in a superconducting ERL, collides with the proton beam circulating in the RHIC ring ones, undergoing a very strong beam-beam interaction with the protons, which warrants careful examination. Following the analysis of the transverse disruption and linear mismatch effects in the electron beam caused by beam-beam collision discussed in [2], we adopt the beam parameters listed in Table I for the eRHIC linac-ring design. After a review of the electron disruption process, we perform long term strong-strong beam-beam simulations with a modification of K. Ohmi’s strong-strong beam-beam code BBSS, with the modification consisting of the regeneration of the electron beam after every collision with the proton beam. With the parameters listed in Table I, a kink instability is observed in the proton beam. By reducing the proton bunch length, thus decreasing the electron disruption parameter, the kink instability is observed to disappear for a proton bunch length σ z,p < 10 cm, or electron disruption parameter d e < 1.5. The effect of random offsets in the electron bunch centroids on the long term stability of the proton beam is studied next, with a proton bunch length σ z,p = 6.3 cm (d e = 0.9), thus below the kink instability threshold. The random offsets of the electron bunch centroids are assumed to be Gaussian distributed, with standard deviation offs, and "delta-correlated" in time (white noise). Studies to take into account finite time-correlation effects and random offsets generated by non-Gaussian random processes will be considered in the future. The effect from fluctuations in the electron bunch population has been studied analytically and will be discussed numerically in a companion paper.

36 MATERIALS SCIENCE↗
DOE OSTI2018

Fully Kinetic Large-scale Simulations of the Collisionless Magnetorotational Instability

We present two-dimensional particle-in-cell simulations of the fully kinetic collisionless magnetorotational instability (MRI) in weakly magnetized (high β) pair plasma. The central result of this numerical analysis is the emergence of a self-induced turbulent regime in the saturation state of the collisionless MRI, which can only be captured for large enough simulation domains. One of the underlying mechanisms for the development of this turbulent state is the drift-kink instability (DKI) of the current sheets resulting from the nonlinear evolution of the channel modes. The onset of the DKI can only be observed for simulation domain sizes exceeding several linear MRI wavelengths. The DKI and ensuing magnetic reconnection activate the turbulent motion of the plasma in the late stage of the nonlinear evolution of the MRI. At steady-state, the magnetic energy has an MHD-like spectrum with a slope of k –5/3 for kρ < 1 and k –3 for sub-Larmor scale (kρ > 1). We also examine the role of the collisionless MRI and associated magnetic reconnection in the development of pressure anisotropy. We study the stability of the system due to this pressure anisotropy, observing the development of mirror instability during the early-stage of the MRI. We further discuss the importance of magnetic reconnection for particle acceleration during the turbulence regime. Furthermore, consistent with reconnection studies, we show that at late times the kinetic energy presents a characteristic slope of ϵ –2 in the high-energy region.

79 ASTRONOMY AND ASTROPHYSICS↗
NASA NTRS1962

INSTABILITY ANALYSIS OF CYLINDRICAL SHELLS UNDER HYDROSTATIC PRESSURE

To determine the elastic buckling pressure of simply supported cylindrical shells subjected to lateral end axial hydrostatic forces, various versions of linear bending theories have been employed in the past. For certain shell dimensions, however the expressions commonly used may yield substantially differing results. In what follows, recent work on this problem by A. E. Armenakas and the writer is briefly reviewed. This work consisted primarily in employing a general bending theory of circular cylindrical shells under the influence of initial stress, developed earlier by the same authors, to re-examine the problem mentioned, and compare the results with those of previous investigations. The outcome was the establishment of a simple but accurate expression for the buckling pressure applicable to a wide range of shell dimensions.

CYLINDRICAL SHELL↗
NASA NTRS2003

Flutter and Divergence Analysis using the Generalized Aeroelastic Analysis Method

The Generalized Aeroelastic Analysis Method (GAAM) is applied to the analysis of three well-studied checkcases: restrained and unrestrained airfoil models, and a wing model. An eigenvalue iteration procedure is used for converging upon roots of the complex stability matrix. For the airfoil models, exact root loci are given which clearly illustrate the nature of the flutter and divergence instabilities. The singularities involved are enumerated, including an additional pole at the origin for the unrestrained airfoil case and the emergence of an additional pole on the positive real axis at the divergence speed for the restrained airfoil case. Inconsistencies and differences among published aeroelastic root loci and the new, exact results are discussed and resolved. The generalization of a Doublet Lattice Method computer code is described and the code is applied to the calculation of root loci for the wing model for incompressible and for subsonic flow conditions. The error introduced in the reduction of the singular integral equation underlying the unsteady lifting surface theory to a linear algebraic equation is discussed. Acknowledging this inherent error, the solutions of the algebraic equation by GAAM are termed 'exact.' The singularities of the problem are discussed and exponential series approximations used in the evaluation of the kernel function shown to introduce a dense collection of poles and zeroes on the negative real axis. Again, inconsistencies and differences among published aeroelastic root loci and the new 'exact' results are discussed and resolved. In all cases, aeroelastic flutter and divergence speeds and frequencies are in good agreement with published results. The GAAM solution procedure allows complete control over Mach number, velocity, density, and complex frequency. Thus all points on the computed root loci can be matched-point, consistent solutions without recourse to complex mode tracking logic or dataset interpolation, as in the k and p-k solution methods.

Edwards, John W.↗
DOE OSTI2017

Nonlinear Filtering Effects of Reservoirs on Flood Frequency Curves at the Regional Scale

Anthropogenic activities, e.g., reservoir operation, may alter the characteristics of Flood Frequency Curve (FFC) and challenge the basic assumption of stationarity used in flood frequency analysis. This paper presents a combined data-modeling analysis of the nonlinear filtering effects of reservoirs on the FFCs over the contiguous United States. A dimensionless Reservoir Impact Index (RII), defined as the total upstream reservoir storage capacity normalized by the annual streamflow volume, is used to quantify reservoir regulation effects. Analyses are performed for 388 river stations with an average record length of 50 years. The first two moments of the FFC, mean annual maximum flood (MAF) and coefficient of variations (CV), are calculated for the pre- and post-dam periods and compared to elucidate the reservoir regulation effects as a function of RII. It is found that MAF generally decreases with increasing RII but stabilizes when RII exceeds a threshold value, and CV increases with RII until a threshold value beyond which CV decreases with RII. The processes underlying the nonlinear threshold behavior of MAF and CV are investigated using three reservoir models with different levels of complexity. All models capture the non-linear relationships of MAF and CV with RII, suggesting that the basic flood control function of reservoirs is key to the non-linear relationships. The relative roles of reservoir storage capacity, operation objectives, available storage prior to a flood event, and reservoir inflow pattern are systematically investigated. Our findings may help improve flood-risk assessment and mitigation in regulated river systems at the regional scale.

58 GEOSCIENCES↗
DOE OSTI2016

Simultaneous and coordinated rotational switching of all molecular rotors in a network

A range of artificial molecular systems have been created that can exhibit controlled linear and rotational motion. In the development of such systems, a key step is the addition of communication between molecules in a network. Here, we show that a two-dimensional array of dipolar molecular rotors can undergo simultaneous rotational switching by applying an electric field from the tip of a scanning tunnelling microscope. Several hundred rotors made from porphyrin-based double-decker complexes can be simultaneously rotated when in a hexagonal rotor network on a Cu(111) surface by applying biases above ±1 V at 80 K. The phenomenon is observed only in a hexagonal rotor network due to the degeneracy of the ground state dipole rotational energy barrier of the system. Defects are essential to increase electric torque on the rotor network and to stabilize the switched rotor domains. At low biases and low initial rotator angles, slight reorientations of individual rotors can occur resulting in the rotator arms pointing in different directions. In conclusion, analysis reveals that the rotator arm directions here are not random, but are coordinated to minimize energy via cross talk among the rotors through dipolar interactions.

77 NANOSCIENCE AND NANOTECHNOLOGY↗
DOE OSTI2022

Neural network based fast prediction of β N limits in HL-2M

Artificial neural networks (NNs) are trained, based on the numerical database, to predict the no-wall and ideal-wall β N limits, due to onset of the n = 1 ( n is the toroidal mode number) ideal external kink instability, for the HL-2M tokamak. The database is constructed by toroidal computations utilizing both the equilibrium code CHEASE (Lütjens et al 1992 Comput. Phys. Commun. 69 287) and the stability code MARS-F (Liu et al 2000 Phys. Plasmas 7 3681). The stability results show that (1) the plasma elongation generally enhances both β N limits, for either positive or negative triangularity plasmas; (2) the effect is more pronounced for positive triangularity plasmas; (3) the computed no-wall β N limit linearly scales with the plasma internal inductance, with the proportionality coefficient ranging between 1 and 5 for HL-2M; (4) the no-wall limit substantially decreases with increasing pressure peaking factor. Furthermore, both the NN model and the convolutional neural network (CNN) model are trained and tested, producing consistent results. The trained NNs predict both the no-wall and ideal-wall limits with as high as 95% accuracy, compared to those directly computed by the stability code. Additional test cases, produced by the Tokamak Simulation Code (Jardin et al 1993 Nucl. Fusion 33 371), also show reasonable performance of the trained NNs, with the relative error being within 10%. The constructed database provides effective references for the future HL-2M operations. The trained NNs can be used as a real-time monitor for disruption prevention in the HL-2M experiments, or serve as part of the integrated modeling tools for ideal kink stability analysis.

Physics↗
NASA NTRS1993

Aeroelastic character of a National Aerospace Plane demonstrator concept

The paper provides an analytical assessment of the flutter character of an unclassified National Aerospace Plane configuration known as the demonstrator. Linear subsonic, supersonic, and hypersonic analysis indicate that the vehicle is prone to body-freedom flutter resulting from the decrease in vibration frequency of the all-moveable wing at high flight dynamic pressures. As the wing-pivot frequency decreases, it couples with the vehicle short-period mode resulting in dynamic instability. A similar instability sometimes occurs when the pivot mode couples with the fuselage-bending mode. Also assessed, for supersonic flight conditions, are configuration variations that include relocation of the wing further aft on the lifting-body fuselage, and the addition of body flaps to the rear of the vehicle. These changes are destabilizing because they result in severe wing-pivot/fuselage-bending instabilities at dynamic pressures lower than the instabilities indicated for the original demonstrator. Finally, a two-point wing support and actuation system concept is proposed for the National Aerospace Plane, which if developed may (according to cursory analysis) enhance overall stability.

Spain, Charles V.↗
NASA NTRS1994

Linear and nonlinear dynamic analysis of redundant load path bearingless rotor systems

The goal of this research is to develop the transfer matrix method to treat nonlinear autonomous boundary value problems with multiple branches. The application is the complete nonlinear aeroelastic analysis of multiple-branched rotor blades. Once the development is complete, it can be incorporated into the existing transfer matrix analyses. There are several difficulties to be overcome in reaching this objective. The conventional transfer matrix method is limited in that it is applicable only to linear branch chain-like structures, but consideration of multiple branch modeling is important for bearingless rotors. Also, hingeless and bearingless rotor blade dynamic characteristics (particularly their aeroelasticity problems) are inherently nonlinear. The nonlinear equations of motion and the multiple-branched boundary value problem are treated together using a direct transfer matrix method. First, the formulation is applied to a nonlinear single-branch blade to validate the nonlinear portion of the formulation. The nonlinear system of equations is iteratively solved using a form of Newton-Raphson iteration scheme developed for differential equations of continuous systems. The formulation is then applied to determine the nonlinear steady state trim and aeroelastic stability of a rotor blade in hover with two branches at the root. A comprehensive computer program is developed and is used to obtain numerical results for the (1) free vibration, (2) nonlinearly deformed steady state, (3) free vibration about the nonlinearly deformed steady state, and (4) aeroelastic stability tasks. The numerical results obtained by the present method agree with results from other methods.

Murthy, V. R.↗
NASA NTRS1993

Robust control design with real parameter uncertainty using absolute stability theory

The purpose of this thesis is to investigate an extension of mu theory for robust control design by considering systems with linear and nonlinear real parameter uncertainties. In the process, explicit connections are made between mixed mu and absolute stability theory. In particular, it is shown that the upper bounds for mixed mu are a generalization of results from absolute stability theory. Both state space and frequency domain criteria are developed for several nonlinearities and stability multipliers using the wealth of literature on absolute stability theory and the concepts of supply rates and storage functions. The state space conditions are expressed in terms of Riccati equations and parameter-dependent Lyapunov functions. For controller synthesis, these stability conditions are used to form an overbound of the H2 performance objective. A geometric interpretation of the equivalent frequency domain criteria in terms of off-axis circles clarifies the important role of the multiplier and shows that both the magnitude and phase of the uncertainty are considered. A numerical algorithm is developed to design robust controllers that minimize the bound on an H2 cost functional and satisfy an analysis test based on the Popov stability multiplier. The controller and multiplier coefficients are optimized simultaneously, which avoids the iteration and curve-fitting procedures required by the D-K procedure of mu synthesis. Several benchmark problems and experiments on the Middeck Active Control Experiment at M.I.T. demonstrate that these controllers achieve good robust performance and guaranteed stability bounds.

How, Jonathan P.↗