An overview of Forward Dynamics Algorithms and their use in Open Source Dynamics Engines

Simulation of real-world dynamics is of major importance in testing and verifying developed industrial concepts and solutions, developing and verifying potential control paradigms, scientific research, learning and training tools, or the entertainment industry as a basis for a game engine. The module of the 3D virtual simulator that achieves simulation of the real-world behaviour such as rigid and elastic body dynamics, particle dynamics, fluid dynamics, electrodynamics, magnetism, etc., is often referred to as a dynamics engine or physics engine. The core of the rigid body dynamics (physics) engine is the solution to the forward dynamics problem, which is defined as finding a rigid body's path, velocity, and acceleration for a given input actuating torque and external forces. The past few decades saw a considerable amount of research in robot dynamics modelling, and there are many methods for robot dynamic model development available in the literature. The most commonly used algorithms for solving robot forward dynamics problem are the Composite-Rigid-Body Algorithm (CRBA) [1] and the Articulated-Body Algorithm (ABA) [2]. CRBA and ABA are reduced coordinate methods where known constraints, such as joints, are embedded in the formulation of the equations of motion. Besides reduced coordinate methods, there are maximal coordinate methods using Lagrange multipliers [3-4] to enforce constraints using constraint reaction forces

Cascading nonlinearities in an organic single crystal core fiber: The Cerenkov regime

The large nonlinear phase shifts imparted to the fundamental beam during Cerenkov second harmonic generation (SHG) in a DAN, 4-(N,N-dimethylamino)-3-acetamidonitrobenzene, single crystal core fiber are explained and modelled numerically. Cascading upconversion and downconversion processes leads to nonlinear phase shifts produced by the second order nonlinear coupling of the guided fundamental mode and the component of the Cerenkov second harmonic field trapped in the fiber cladding

Fibre Bragg Grating-based Acoustic Sensor Array for Improved Condition Monitoring of Marine Lifting Surfaces

This paper discusses a novel approach to monitor marine lifting surface conditions through using arrays of Fibre Bragg Grating (FBG)-based acoustic sensors in a marine rudder. Results from these optical sensor arrays are then cross compared with those from conventional piezoelectric (PZT) sensors. A successful proof-of-concept evaluation of the optical sensor approach was, however, first undertaken by using cascaded FBGs integrated into a glass plate, monitoring the response to dropping a standard metal ball at different locations. Data obtained were compared with colocated conventional PZT sensors acoustic sensors for comparison using triangulation to determine the location of the excitation source (a sonotrode). The results obtained verify the excellent performance of the FBG-based sensors due to the excellent agreement between these different sensor types. This gives confidence to the next-stage to scale-up the FBG sensor arrays for other marine structures, with early identification of the initiation of cavitation erosion an important priority for better operational reliability and scheduling of maintenance of marine vessels

Fibre Bragg Grating-based Cascaded Acoustic Sensors for Potential Marine Structural Condition Monitoring

This paper explores the potential of using multiple Fibre Bragg grating (FBG)-based sensors for acoustic emission (AE) detection, thus offering an effective alternative to conventional piezoelectric (PZT) sensors, especially where they have shown limitations in use, such as in the marine sector. A cascaded fibre optic acoustic sensor system, using optical filter signal demodulation has been developed and its performance extensively evaluated. To undertake this under standardized conditions, the optical sensor system was evaluated using a glass plate to detect the acoustic signal, followed by an evaluation using a metal plate to identify the location of acoustic sources, when subjected to sonotrode excitation, mimicking acoustic detection in cavitation detection. Under these circumstances, a very good agreement has been reached between the outputs of the optical acoustic sensors and of the co-located PZT acoustic sensors. This work confirms the utility of these sensors – they can detect not only weak AE signals, but also enable multipoint simultaneous measurement, showing their potential for condition monitoring applications, especially in the marine sector

Optical fibre sensing: A solution for industry

Optical fibres have been explored widely for their sensing capability to meet increasing industrial needs, building on their success in telecommunications. This paper provides a review of research activities at City University of London in response to industrial challenges through the development of a range of fibre Bragg grating (FBG)-based sensors for transportation structural monitoring. For marine propellers, arrays of FBGs mapped onto the surface of propeller blades allow for capturing vibrational modes, with reference to simulation data. The research funded by EU Cleansky programme enables the development of self-sensing electric motor drives to support 'More Electric Aircraft' concept. The partnership with Faiveley Brecknell Willis in the UK enables the integration of FBG sensors into the railway current-collecting pantographs for real-time condition monitoring when they are operating under 25kV conditions

Context-Specific Effects of TGF-β/SMAD3 in Cancer Are Modulated by the Epigenome.

The transforming growth factor beta (TGF-β) signaling pathway exerts opposing effects on cancer cells, acting as either a tumor promoter or a tumor suppressor. Here, we show that these opposing effects are a result of the synergy between SMAD3, a downstream effector of TGF-β signaling, and the distinct epigenomes of breast-tumor-initiating cells (BTICs). These effects of TGF-β are associated with distinct gene expression programs, but genomic SMAD3 binding patterns are highly similar in the BTIC-promoting and BTIC-suppressing contexts. Our data show cell-type-specific patterns of DNA and histone modifications provide a modulatory layer by determining accessibility of genes to regulation by TGF-β/SMAD3. LBH, one such context-specific target gene, is regulated according to its DNA methylation status and is crucial for TGF-β-dependent promotion of BTICs. Overall, these results reveal that the epigenome plays a central and previously overlooked role in shaping the context-specific effects of TGF-β in cancer.S.J.V. was supported by a grant from the Dutch Cancer Foundation (KWF).This is the final version of the article. It was first available from Elsevier via http://dx.doi.org/10.1016/j.celrep.2015.11.04

Cancer and systemic inflammation: treat the tumour and treat the host

Determinants of cancer progression and survival are multifactorial and host responses are increasingly appreciated to have a major role. Indeed, the development and maintenance of a systemic inflammatory response has been consistently observed to confer poorer outcome, in both early and advanced stage disease. For patients, cancer-associated symptoms are of particular importance resulting in a marked impact on day-to-day quality of life and are also associated with poorer outcome. These symptoms are now recognised to cluster with one another with anorexia, weight loss and physical function forming a recognised cluster whereas fatigue, pain and depression forming another. Importantly, it has become apparent that these symptom clusters are associated with presence of a systemic inflammatory response in the patient with cancer. Given the understanding of the above, there is now a need to intervene to moderate systemic inflammatory responses, where present. In this context the rationale for therapeutic intervention using nonselective anti-inflammatory agents is clear and compelling and likely to become a part of routine clinical practice in the near future. The published literature on therapeutic intervention using anti-inflammatory agents for cancer-associated symptoms was reviewed. There are important parallels with the development of useful treatments for the systemic inflammatory response in patients with rheumatological disease and cardiovascular disease

SOX4 can redirect TGF-β-mediated SMAD3-transcriptional output in a context-dependent manner to promote tumorigenesis.

Expression of the transcription factor SOX4 is often elevated in human cancers, where it generally correlates with tumor-progression and poor-disease outcome. Reduction of SOX4 expression results in both diminished tumor-incidence and metastasis. In breast cancer, TGF-β-mediated induction of SOX4 has been shown to contribute to epithelial-to-mesenchymal transition (EMT), which controls pro-metastatic events. Here, we identify SMAD3 as a novel, functionally relevant SOX4 interaction partner. Genome-wide analysis showed that SOX4 and SMAD3 co-occupy a large number of genomic loci in a cell-type specific manner. Moreover, SOX4 expression was required for TGF-β-mediated induction of a subset of SMAD3/SOX4-co-bound genes regulating migration and extracellular matrix-associated processes, and correlating with poor-prognosis. These findings identify SOX4 as an important SMAD3 co-factor controlling transcription of pro-metastatic genes and context-dependent shaping of the cellular response to TGF-β. Targeted disruption of the interaction between these factors may have the potential to disrupt pro-oncogenic TGF-β signaling, thereby impairing tumorigenesis

Separated Kaon Electroproduction Cross Section and the Kaon Form Factor from 6 GeV JLab Data

The $^{1}H$($e,e^\prime K^+$)$\Lambda$ reaction was studied as a function of the Mandelstam variable $-t$ using data from the E01-004 (FPI-2) and E93-018 experiments that were carried out in Hall C at the 6 GeV Jefferson Lab. The cross section was fully separated into longitudinal and transverse components, and two interference terms at four-momentum transfers $Q^2$ of 1.00, 1.36 and 2.07 GeV$^2$. The kaon form factor was extracted from the longitudinal cross section using the Regge model by Vanderhaeghen, Guidal, and Laget. The results establish the method, previously used successfully for pion analyses, for extracting the kaon form factor. Data from 12 GeV Jefferson Lab experiments are expected to have sufficient precision to distinguish between theoretical predictions, for example recent perturbative QCD calculations with modern parton distribution amplitudes. The leading-twist behavior for light mesons is predicted to set in for values of $Q^2$ between 5-10 GeV$^2$, which makes data in the few GeV regime particularly interesting. The $Q^2$ dependence at fixed $x$ and $-t$ of the longitudinal cross section we extracted seems consistent with the QCD factorization prediction within the experimental uncertainty

A Fiber Bragg Grating (FBG)-Based Sensor System for Anaerobic Biodigester Humidity Monitoring

An operational, Fiber Bragg Grating (FBG)-based sensing system, specifically designed to monitor conditions in a harsh industrial environment is reported. The sensors used were placed inside tanks with high levels of methane (CH 4 ), carbon dioxide (CO 2 ) and hydrogen sulphide (H 2 S) gases and high relative humidity in the North Head sewage treatment plant in Sydney, Australia. The sensor system was developed primarily to monitor the effect of >98% relative humidity and temperature changes on the corrosion rates of various materials inside the tanks. Data have been obtained from the use of the system for eight months: these have been correlated with key climate data including the changing weather conditions experienced during the continued monitoring activity. The sensor system specifically developed has been shown to be sufficiently robust to work well, and safely, in such a harsh environment (due to the gaseous H 2 S and CH 4 present) with no signs of deterioration of the sensors or of the signals obtained from the system. The remote operation through flexible data transmission has allowed continuous and up-to-date monitoring of the conditions inside the tanks