Synthesis of a 10-Bar Linkage to Guide the Gait Cycle of the Human Leg

This paper uses path synthesis techniques to design four-bar linkage modules to constrain the movement of a 3R chain. The result is a 10-bar linkage. The goal is to develop a design procedure for a robotic system that guides the human leg during the walking gait cycle. A 3R chain is designed to match the dimensions of a human leg and the two four-bar linkages are synthesized using 9 point path synthesis to constrain the trajectory of the ankle and the toe. Precision points are derived from a basis spline equation. A numerical example is given using data collected from a motion capture system

An Adjustable Single Degree-of-Freedom System to Guide Natural Walking Movement for Rehabilitation

This paper presents a linkage system designed to guide a natural ankle trajectory with the corresponding foot orientation. A six-bar linkage was designed to coordinate the joint angles of an RR chain (R denotes a revolute or hinged joint) that models the leg to achieve the desired ankle trajectory. The design is shown to be adjustable to meet a range of trajectories obtained in an individual's normal gait. Control of the foot position is obtained using a cam-driven parallel chain that has the same input as the six-bar linkage. The design of the linkage was carried out using linkage synthesis theory and optimization methods. The result is a one degree-of-freedom system that guides a natural walking movement of the leg and foot. A solid model of the complete device is presented. The results of this research provide a procedure that focuses on the kinematics and mechanical design of a device named the UCI gait mechanism

Isotope effect on the transition temperature TcT_c in Fe-based superconductors: the current status

The results of the Fe isotope effect (Fe-IE) on the transition temperature $T_c$ obtained up to date in various Fe-based high temperature superconductors are summarized and reanalyzed by following the approach developed in [Phys. Rev. B 82, 212505 (2010)]. It is demonstrated that the very controversial results for Fe-IE on $T_c$ are caused by small structural changes occurring simultaneously with the Fe isotope exchange. The Fe-IE exponent on $T_c$ [$\alpha_{\rm Fe}=-(\Delta T_c/T_c)/(\Delta M/M)$, $M$ is the isotope mass] needs to be decomposed into two components with the one related to the structural changes ($\alpha_{\rm Fe}^{\rm str}$) and the genuine (intrinsic) one ($\alpha_{\rm Fe}^{\rm int}$). The validity of such decomposition is further confirmed by the fact that $\alpha_{\rm Fe}^{\rm int}$ coincides with the Fe-IE exponent on the characteristic phonon frequencies $\alpha_{\rm Fe}^{\rm ph}$ as is reported in recent EXAFS and Raman experiments.Comment: 7 pages, 4 figures. The paper is partially based on the results published in [New J. Phys. 12, 073024 (2010) = arXiv:1002.2510] and [Phys. Rev. B 82, 212505 (2010) = arXiv:1008.4540

Molecular Clouds associated with the Type Ia SNR N103B in the Large Magellanic Cloud

N103B is a Type Ia supernova remnant (SNR) in the Large Magellanic Cloud (LMC). We carried out new $^{12}$CO($J$ = 3-2) and $^{12}$CO($J$ = 1-0) observations using ASTE and ALMA. We have confirmed the existence of a giant molecular cloud (GMC) at $V_\mathrm{LSR}$ $\sim$245 km s$^{-1}$ towards the southeast of the SNR using ASTE $^{12}$CO($J$ = 3-2) data at an angular resolution of $\sim$25$"$ ($\sim$6 pc in the LMC). Using the ALMA $^{12}$CO($J$ = 1-0) data, we have spatially resolved CO clouds along the southeastern edge of the SNR with an angular resolution of $\sim$1.8$"$ ($\sim$0.4 pc in the LMC). The molecular clouds show an expanding gas motion in the position-velocity diagram with an expansion velocity of $\sim5$ km s$^{-1}$. The spatial extent of the expanding shell is roughly similar to that of the SNR. We also find tiny molecular clumps in the directions of optical nebula knots. We present a possible scenario that N103B exploded in the wind-bubble formed by the accretion winds from the progenitor system, and is now interacting with the dense gas wall. This is consistent with a single-degenerate scenario.Comment: 12 pages, 1 table, 8 figures, accepted for publication in The Astrophysical Journal (ApJ

ALMA CO Observations of Supernova Remnant N63A in the Large Magellanic Cloud: Discovery of Dense Molecular Clouds Embedded within Shock-Ionized and Photoionized Nebulae

We carried out new $^{12}$CO($J$ = 1-0, 3-2) observations of a N63A supernova remnant (SNR) from the LMC using ALMA and ASTE. We find three giant molecular clouds toward the northeast, east, and near the center of the SNR. Using the ALMA data, we spatially resolved clumpy molecular clouds embedded within the optical nebulae in both the shock-ionized and photoionized lobes discovered by previous H$\alpha$ and [S II] observations. The total mass of the molecular clouds is $\sim$$800$ $M_{\odot}$ for the shock-ionized region and $\sim$$1700$ $M_{\odot}$ for the photoionized region. Spatially resolved X-ray spectroscopy reveals that the absorbing column densities toward the molecular clouds are $\sim$$1.5$-$6.0\times10^{21}$ cm$^{-2}$, which are $\sim$$1.5$-$15$ times less than the averaged interstellar proton column densities for each region. This means that the X-rays are produced not only behind the molecular clouds, but also in front of them. We conclude that the dense molecular clouds have been completely engulfed by the shock waves, but have still survived erosion owing to their high-density and short interacting time. The X-ray spectrum toward the gas clumps is well explained by an absorbed power-law or high-temperature plasma models in addition to the thermal plasma components, implying that the shock-cloud interaction is efficiently working for both the cases through the shock ionization and magnetic field amplification. If the hadronic gamma-ray is dominant in the GeV band, the total energy of cosmic-ray protons is calculated to be $\sim$$0.3$-$1.4\times10^{49}$ erg with the estimated ISM proton density of $\sim$$190\pm90$ cm$^{-3}$, containing both the shock-ionized gas and neutral atomic hydrogen.Comment: 18 pages, 4 tables, 8 figures, accepted for publication in The Astrophysical Journal (ApJ