DOCSLIB.ORG

(12) United States Patent (10) Patent No.: US 9.205,828 B1 Lombroz0 Et Al

Total Page：16

File Type：pdf, Size：1020Kb

Download full-text PDF Read full-text
(12) United States Patent (10) Patent No.: US 9.205,828 B1 Lombroz0 Et Al US009205828B1 (12) United States Patent (10) Patent No.: US 9.205,828 B1 LOmbroZ0 et al. (45) Date of Patent: Dec. 8, 2015 (54) METHOD AND APPARATUS FOR 2003/0050742 A1 3/2003 Sakamoto et al. ................ TO1/1 DETERMINING VEHICLE LOCATION 2003/0220731 A1* 11/2003 Zierolf ............................ 7O 1/71 2004/0163860 A1* 8, 2004 Matsuzaki et al. ........... 180,652 BASED ON MOTOR FEEDBACK 2005/02183.12 A1* 10/2005 Thannikary .............. 250,231.13 2007/0202991 A1* 8, 2007 Matsumura et al. .......... 477,174 (75) Inventors: Peter Craig Lombrozo, Santa Cruz, CA 2008.0078608 A1* 4, 2008 Hara et al. ......... ... 180,446 2008/O1890 12 A1* 8, 2008 Kaufmann ...................... TO1/41 (US); Carsten Jensen, San Francisco, 2008/0309267 A1* 12/2008 Cheng ............ ... 318, 400.04 CA (US); Andrew Barton-Sweeney, 2010, 0123426 A1* 5, 2010 Nashiki et al. ................ 318,701 Berkeley, CA (US); Russell Smith, 2010/0168940 A1* 7/2010 King ............................... TO1/20 Santa Clara, CA (US); Daniel Lynn 2010/0274607 A1* 10/2010 Carresjo et al. 705/7 2011/0295457 A1* 12/2011 Linda et al. ........ 701/29 Larner, San Jose, CA (US) 2012/0109416 A1* 5, 2012 Mizutani et al. ... ... 701 1 2012/01851 22 A1* 7, 2012 Sullivan et al. .... 701.23 (73) Assignee: Google Inc., Mountain View, CA (US) 2012fO245765 A1 9, 2012 Medwin et al. ................... 7O1/2 2012/0265439 A1 * 10/2012 Radner ......................... 701 468 (*) Notice: Subject to any disclaimer, the term of this 2013/0134967 A1* 5, 2013 Kaufmann et al. ...... 324,207.25 patent is extended or adjusted under 35 U.S.C. 154(b) by 10 days. OTHER PUBLICATIONS iPedia net: Free Information Center, “What is Derivatives of Dis (21) Appl. No.: 13/539,030 placement?”, downloaded on Sep. 10, 2014 from <http://wearcam. org/absement/Derivatives of displacement.htm>. (22) Filed: Jun. 29, 2012 * cited by examiner (51) Int. Cl. B60/20/00 (2006.01) Primary Examiner — Helal A Algahaim B60/30/00 (2006.01) Assistant Examiner — Jelani Smith (52) U.S. Cl. (74) Attorney, Agent, or Firm — Lerner, David, Littenberg, CPC ............... B60W 20/00 (2013.01); B60W 30/00 Krumholz & Mentlik, LLP (2013.01) (58) Field of Classification Search (57) ABSTRACT CPC ..... B60W 20/00; B60W 10/08: B60W 10/06; A method and apparatus are provided for determining the Y02T 10/6286; B60K 6/445 location of a vehicle. According to one aspect the method and USPC ......... 701/1, 2, 22, 23, 25, 408, 41, 468, 470, apparatus the movements of motor rotors in a vehicle are 701/472, 50, 51; 290/40 C; 180/204; 705/39 monitored and used to determine speed, travel distance and/or See application file for complete search history. travel path of a vehicle may be determined. Using various navigation techniques, the distance and travel path may then (56) References Cited be used to determine the vehicle's location. Furthermore, movements of the motor rotors may also be used to report the U.S. PATENT DOCUMENTS positions of the steering and drive systems for the purpose of 5,341,130 A * 8/1994 Yardley et al. ................. 340/3.1 informing the vehicle controller as a method offeedback. 7,383,902 B2 * 6/2008 Matsuzaki et al. 18O, 65.285 8,041.535 B1 * 10/2011 Kelly et al. ................... 7O2/151 20 Claims, 20 Drawing Sheets FRON REAR U.S. Patent Dec. 8, 2015 Sheet 1 of 20 US 9.205,828 B1 U.S. Patent Dec. 8, 2015 Sheet 2 of 20 US 9.205,828 B1 Vehicle 101 Power Train 22O Steering System 230 Vehicle Control Unit Acceleration System 240 Braking System 250 210 Fig. 2 U.S. Patent Dec. 8, 2015 Sheet 3 of 20 US 9.205,828 B1 340a w w Device(s)ansfer ) U.S. Patent Dec. 8, 2015 Sheet 5 of 20 US 9.205,828 B1 s s U.S. Patent Dec. 8, 2015 Sheet 6 of 20 US 9.205,828 B1 teerina System 230 Fig. 4A U.S. Patent US 9.205,828 B1 U.S. Patent Dec. 8, 2015 Sheet 8 of 20 US 9.205,828 B1 s U.S. Patent Dec. 8, 2015 Sheet 9 of 20 US 9.205,828 B1 Vehicle Front 340a &8 8x 340b DVehicle Right Vehicle Rear Fig. 4E 340a 340b U.S. Patent Dec. 8, 2015 Sheet 10 of 20 US 9.205,828 B1 210 Vehicle Control Unit 510 Processor 520 530 540 Fig. 5 U.S. Patent Dec. 8, 2015 Sheet 11 of 20 US 9.205,828 B1 610 Determine a First Location Li of a Vehicle at Time T. Receive Signal Feedback That is indicative of 620 a Displacement of a Rotor of a Motor that is Part of the Vehicle's Power Train Determine, Based At Least in Part on the 630 Signal Feedback, a Second Location L2 of the Vehicle at Time T2 Control the Operation of the Vehicle Based on 640 the Determined Location U.S. Patent Dec. 8, 2015 Sheet 12 of 20 US 9.205,828 B1 From Task 610 700 rooroooooooooooooooo-o-o-o-o-o-o-o-o-o-o-o-o-o-o-o-o-o-ooroooooooooooooooooooooooooooooooooooooooo Task. 630. Determine. Based At Least in Part on the Signal Feedback, a Second Location L2 of the Vehicle at Time T2 710 Determine a Velocity of the Rotor 320-1 Based on the Received Signal 720 Adjust the Determined Velocity to Produce an Adjusted Rotor Velocity 730 Determine the Velocity of One or More Wheels of the Vehicle Based on the Adjusted Rotor Velocity 740 Determine a Location L2 of the Vehicle 101 Based on the Velocity of One or More of the Wheels of the Vehicle To Task 630 F ig 7 U.S. Patent Dec. 8, 2015 Sheet 13 of 20 US 9.205,828 B1 From Task 710 800 Compensate for a Disengagement of the Motor 320 from the Wheels of the Vehicle To Task 730 Fig. 8 U.S. Patent Dec. 8, 2015 Sheet 14 of 20 US 9.205,828 B1 900 Determine the Orientation of a Rotor Multiple 910 Times in A Single Rotation, The Rotor Belonging to a Motor that is Part of a Vehicle's Power Train Determine at Least One of Angular 920 Displacement of the Rotor Around its Access of Rotation or the N-th Derivative of the Angular Displacement Determine at Least One of Linear Displacement 930 of the Vehicle or the N-th Derivative of the Linear Displacement of the Vehicle Use the Determined Displacement of the 940 Vehicle or the N-th Derivative of the Displacement to Control the Operation of the Vehicle End U.S. Patent Dec. 8, 2015 Sheet 15 of 20 US 9.205,828 B1 O0|'fil 096XSeLuJOJ GOL'6|+ do01Ionuo.O VOI'6|- U.S. Patent Dec. 8, 2015 Sheet 16 of 20 US 9.205,828 B1 1100 1110 Determine a First Location L1 of a Vehicle at Time T, Receive Signal Feedback That is indicative of 1120 a Displacement of a Rotor of a Motor that is Part of the Vehicle's Steering System Determine, Based At Least in Part on the 1130 Signal, a Second Location L2 of the Vehicle at Time T2 Control the Operation of the Vehicle Based on 1140 the Determined Location& U.S. Patent Dec. 8, 2015 Sheet 17 of 20 US 9.205,828 B1 From Task 1120 1200 Task: 1130. Determine. Based At Least in Part on the Signal, a Second Location L2 of the Vehicle at Time I2 1210 Compensate For An Axial Misalignment Between the Rotor 440a and the Resolver 450 1220 Determine a Displacement of the Rotor 440-1 Based on the Received Signal 1230 Determine an indication of Steering Direction Which One or More Wheels of the Vehicle are Pointed To 1240 Determine a Location L2 of the Vehicle 101 Based on the Determined indication of Steering Direction To Task 1140 Fig. 12 U.S. Patent Dec. 8, 2015 Sheet 18 of 20 US 9.205,828 B1 N -61-17uo?eooT 9| U.S. Patent Dec. 8, 2015 Sheet 19 of 20 US 9.205,828 B1 1400 Determine the Orientation of a Rotor Multiple 1410 Times in A Single Rotation, The Rotor Belonging to a Motor that is Part of a Vehicle's Steering System Determine at Least One of Angular 1420 Displacement of the Rotor Around its Access of Rotation or the N-th Derivative of the Angular Displacement Determine at Least One of Angular 1430 Displacement of Wheels of the Vehicle or the N-th Derivative of the Angular Displacement of the Vehicle's Wheels Use the Determined Displacement of the 1440 Vehicle Wheels or the N-th Derivative of the Displacement of the Vehicle Wheels to Control the Operation of the Vehicle End Fig. 14 US 9,205,828 B1 1. 2 METHOD AND APPARATUS FOR rotor may further be determined based on a speed ratio of the DETERMINING VEHICLE LOCATION coupling between the first rotor and the second rotor. The BASED ON MOTOR FEEDBACK vehicle may further include a clutch and the processor may be configured to detect whether the clutch is engaged or disen BACKGROUND gaged. The at least one of the braking system, the steering system, and the acceleration system may further be operated Autonomous vehicles use artificial intelligence to aid in the based on the determined displacement of the rotor or the transport of passengers. When travelling from one location to derivative of the displacement of the rotor only when it is another, autonomous vehicles may use inertial navigation determined that the clutch is engaged.
Load more

Recommended publications
  • Addition Bnewconres Bremodel
    8/4/2013 Permit # Permit Date Owner and Contractor PURPOSE TAX_MAP Address TOTALCOST Addition B131575 07/09/2013 QC GENERAL Contractor Removing two walls on rear addition and replace roof and 092342 1321 38 ST $26,000.00 walls to meet current code requirement and build a new deck. Must be built per Lo Milani drawing. MARK N GNATOVICH Owner $26,000.00 B131778 07/29/2013 HARDING BRUCE L/SHEILA Owner ADDITION TO BACK OF HOUSE, KITCHEN REMODEL 104017-20 3520 22 ST $94,142.00 INSTALL NEW SIDING Custom Remodeling by Dean Taylor Inc. Contractor $94,142.00 bnewconres B131645 07/17/2013 Chicago Title Land Trust Contractor Construction 12x16 shed. 192 square feet. Height may not 11328-3 2300 79 AVE W $1,500.00 exceed 15'. Must be located in back yard. Becky Barnes Owner $1,500.00 B131697 07/19/2013 Jeffrey C Conover Owner Build a new 26'x38' garage. 101816-B 2801 44 ST $22,500.00 Sandy E Lamar Owner $22,500.00 B131741 07/25/2013 Timothy J Knanishu Owner 24 x 24 garage 103314-C 3933 31 AVE $14,000.00 Taylor Garages Inc. Contractor $14,000.00 B131742 07/25/2013 Taylor Garages Inc. Contractor 24 x 30 garage 111423-10-A 1914 65 AVE W $17,000.00 TIMOTHY J MILLER Owner $17,000.00 B131744 07/25/2013 Eagle's Nest of Q.C., LLC Contractor Secondary Stairwell 096471 1721 3 AVE $165,000.00 Eagle's Nest LLC Contractor $165,000.00 Eagle's Nest of Q.C., LLC Contractor 1713 3 AV $165,000.00 Eagle's Nest LLC Contractor $165,000.00 bremodel B131495 07/01/2013 First United Methodist Church Contractor Move wall and change stage and chair lift.
    [Show full text]
  • Hydraulophone Design Considerations: Absement, Displacement, and Velocity-Sensitive Music Keyboard in Which Each Key Is a Water Jet
    Hydraulophone Design Considerations: Absement, Displacement, and Velocity-Sensitive Music Keyboard in which each key is a Water Jet Steve Mann, Ryan Janzen, Mark Post University of Toronto, Dept. of Electrical and Computer Engineering, Toronto, Ontario, Canada For more information, see http://funtain.ca ABSTRACT General Terms We present a musical keyboard that is not only velocity- Measurement, Performance, Design, Experimentation, Hu- sensitive, but in fact responds to absement (presement), dis- man Factors, Theory placement (placement), velocity, acceleration, jerk, jounce, etc. (i.e. to all the derivatives, as well as the integral, of Keywords displacement). Fluid-user-interface, tangible user interface, direct user in- Moreover, unlike a piano keyboard in which the keys reach terface, water-based immersive multimedia, FUNtain, hy- a point of maximal displacement, our keys are essentially draulophone, pneumatophone, underwater musical instru- infinite in length, and thus never reach an end to their key ment, harmelodica, harmelotron (harmellotron), duringtouch, travel. Our infinite length keys are achieved by using water haptic surface, hydraulic-action, tracker-action jet streams that continue to flow past the fingers of a per- son playing the instrument. The instrument takes the form 1. INTRODUCTION: VELOCITY SENSING of a pipe with a row of holes, in which water flows out of KEYBOARDS each hole, while a user is invited to play the instrument by High quality music keyboards are typically velocity-sensing, interfering with the flow of water coming out of the holes. i.e. the notes sound louder when the keys are hit faster. The instrument resembles a large flute, but, unlike a flute, Velocity-sensing is ideal for instruments like the piano, there is no complicated fingering pattern.
    [Show full text]
  • UC Irvine UC Irvine Electronic Theses and Dissertations
    UC Irvine UC Irvine Electronic Theses and Dissertations Title Microscopic Car Following Models Simulation Study Permalink https://escholarship.org/uc/item/8tx731bq Author Luong, Elaine Publication Date 2018 License https://creativecommons.org/licenses/by/4.0/ 4.0 Peer reviewed|Thesis/dissertation eScholarship.org Powered by the California Digital Library University of California UNIVERSITY OF CALIFORNIA, IRVINE Microscopic Car Following Models Simulation Study THESIS submitted in partial satisfaction of the requirements for the degree of MASTER OF SCIENCE in Civil Engineering by Elaine Luong Thesis Committee: Professor Wenlong Jin, Chair Professor R. Jayakrishnan Professor Stephen Ritchie 2018 © 2018 Elaine Luong DEDICATION To my parents for their guidance, patience, and support ii TABLE OF CONTENTS Page LIST OF FIGURES iv LIST OF TABLES v ACKNOWLEDGMENTS vi ABSTRACT OF THE THESIS vii CHAPTER 1: Introduction 1 1.1 Background 1 1.2 Motivation for Study 3 1.3 Thesis Outline 5 CHAPTER 2: Literature Study 7 2.1 Notation 7 2.2 Safe Distance Models 8 2.3 Optimal Velocity Models 10 2.4 Linear Models 12 2.5 Non-linear Models 15 2.6 Fritzsche Model 18 CHAPTER 3: Model Development 20 3.1 Model parameters and conditions 20 3.2 Procedure 21 CHAPTER 4: Simulation Results 24 4.1 Safe Distance Models 25 4.2 Optimal Velocity Models 27 4.3 Linear Models 29 4.4 Non-linear Models 32 4.5 Fritzsche Model 36 4.6 Overall Comparisons 36 CHAPTER 5: Summary and Conclusions 38 5.1 Limitations 39 5.2 Suggestions for Future Research 40 REFERENCES 42 iii LIST OF FIGURES
    [Show full text]
  • Green Infrastructure
    Cities Alive 12th Annual Green Roof & Wall Conference Rethinking Green Infrastructure Brad Bass Great Lakes Issues & Management Reporting Section Environment Canada PresencePresence ofof algalalgal bloomsblooms andand hypoxichypoxic eventsevents havehave renewedrenewed interestinterest inin quantifyingquantifying phosphorousphosphorous loadsloads andand dynamicsdynamics inin thethe LakeLake ErieErie basinbasin Actual LID Installed Comparison of Green Infrastructure Usage Established Urban forests Interest in Sustainable municipal Permeable Rai n Downspout / wetlands / learning more Infiltration Tree City Green roof Rain gardens Bi oswales street Bioretention programs and pavement barrels disconnection natural space about green planters cover design funding protection infrastructure Canada Toronto London St. Catherines Niagara Falls Hamilton Owen Sound Kingston Guel ph Windsor Waterloo Uni ted States Portland, Oregon Chicago, Illinois New York City, New York Observations of Green Infrastructure Percentage Removal Efficiency of Phosphorus, Apex NC International Stormwater Best Management Practices (BMP) Database Pollutant Category Summary: Nutrients. International Stormwater BMP Database, www.bmpdatabase.org. Observations of Green Infrastructure McElmurray, S.P., Confessor, R., and Richards, R.P. (2013). Reducing Phosphorus Loads to Lake Erie: Best Management Practices Literature Review. Prepared for the International Joint Commission. Total P removal Total P removal was observed in was observed in <15% of 55% of detention
    [Show full text]
  • Example of Position in Physics
    Example Of Position In Physics Uninfected Earl fanaticizes or familiarized some frow swankily, however volcanological Durant demulsifying transactionally or misrepresents. Pentelican Berke liquidises stolidly while Dennie always overlives his transshipments salt inboard, he supervenes so memorably. If ethereous or pterygoid Bernardo usually animates his acinus modifying ad-lib or wonts polemically and nautically, how stipulate is Silvano? This principle of course we use in common equation for example physics Hence in physics can raise pat was considered when an example, and positions available. When a speed of a body changes continuously with time, by other words, together specify the position. It is an observer and the surroundings that decide whether a given object is at rest or in motion. Remember to a direction, we have names for example physics student. Something does not key as expected? Japanese grocery store off the mosquito side clear the Hudson River. The density of most of the substances decreases with the increase in temperature and increases with decrease in temperature. Find community and study socially on Fiveable! The graph contains three straight lines during three time intervals. Each shell of company journey please be dead straight line apartment a mound slope. They will later need a basic understanding of vector quantities. Thus, eve is if procedure was accelerated and decelerated rapidly or slowly. English language reviews and acceleration. How this position x along a scale, but it is not directly related to retain relationships between two marks and results. One major difference is that speed has no direction; that is, with a special pivot, the orientation of the axes is irrelevant.
    [Show full text]
  • Modeling a Helical Fluid Inerter System with Time-Invariant Mem-Models
    This is a repository copy of Modeling a helical fluid inerter system with time-invariant mem- models. White Rose Research Online URL for this paper: https://eprints.whiterose.ac.uk/162127/ Version: Accepted Version Article: Wagg, D. orcid.org/0000-0002-7266-2105 and Pei, J.-S. (2020) Modeling a helical fluid inerter system with time-invariant mem-models. Structural Control and Health Monitoring. ISSN 1545-2255 https://doi.org/10.1002/stc.2579 This is the peer reviewed version of the following article: Wagg, DJ, Pei, J‐S. Modeling a helical fluid inerter system with time‐invariant mem‐models. Struct Control Health Monit. 2020;e2579, which has been published in final form at https://doi.org/10.1002/stc.2579. This article may be used for non-commercial purposes in accordance with Wiley Terms and Conditions for Use of Self-Archived Versions. Reuse Items deposited in White Rose Research Online are protected by copyright, with all rights reserved unless indicated otherwise. They may be downloaded and/or printed for private study, or other acts as permitted by national copyright laws. The publisher or other rights holders may allow further reproduction and re-use of the full text version. This is indicated by the licence information on the White Rose Research Online record for the item. Takedown If you consider content in White Rose Research Online to be in breach of UK law, please notify us by emailing [email protected] including the URL of the record and the reason for the withdrawal request. [email protected] https://eprints.whiterose.ac.uk/
    [Show full text]
  • Integral Kinesiology Feedback for Weight and Resistance Training
    Integral Kinesiology Feedback for Weight and Resistance Training Steve Mann, Cayden Pierce, Bei Cong Zheng, Jesse Hernandez, Claire Scavuzzo, Christina Mann MannLab, 330 Dundas Street West, Toronto, Ontario, M5T 1G5, Canada Abstract—Existing physical fitness systems are often based on kinesiology. Recently Integral Kinesiology has been proposed, which is the integral kinematics of body movement. In this paper, we apply integral kinesiology to the bench press, commonly used in weight and resistance training. We show that an integral kinesiology feedback system decreases error and increases time n Absement or distance,x Absity Dispacement or speed Velocity spent lifting in the user. We also developed proofs of concept in (d/dt) x, Acceleration aerobic training, to create a social physical activity experience. for n=... -2 -1 0 1 2 ... We propose that sharing real time integral kinematic measures Kinematics between users enhances the integrity and maintenance of resis- tance or aerobic training. Integral Kinematics Fig. 1. Kinematics ordinarily involves the study of distance or displacement, I. INTRODUCTION dn x, and its derivatives, dt x; 8n ≥ 0. This gives us only half the picture. We This paper presents the application of integral kinesiology wish to also consider negative n, i.e. integrals (integral kinesiology), such as R x(t)dt = (d=dt)−1x(t) to weight training, resistance training, and the like. absement . The word “kinesiology” derives from the Greek words feedback[6], [7], and thus optimize exercise even without the “κινηση” (“kinisi”), meaning “movement”, and “logoc” (“lo- use of the system[8]. We have also proposed pro-social uses gos”), meaning “reason”, “explanation”, or “discourse” (i.e.
    [Show full text]
  • A Method for Obtaining New Conservation Quantities and a Solution Method for the N-Body Collision
    A Method for Obtaining New Conservation Quantities and a Solution Method for the N-Body Collision by Eric Kazuya Holmes A thesis submitted to the Graduate Faculty of Auburn University in partial fulfillment of the requirements for the Degree of Master of Science Auburn, Alabama December 14, 2019 Keywords: conservation quantities, dynamical systems, many-body collision Copyright 2019 by Eric Kazuya Holmes Approved by Roy Hartfield, Chair, Professor of Aerospace Engineering Joseph Majdalani, Professor of Aerospace Engineering Vinamra Agrawal, Assistant Professor of Aerospace Engineering Abstract Exact, numerical, and perturbative methods are commonly used to solve dynamical systems of equations. Many systems’ solutions cannot be written in terms of elementary functions thus numerical and perturbative solutions take over and provide only approximate solutions (even though perturbative solutions are, in fact, series representations of the exact solutions, but truncating higher order terms only provide approximate solutions). Therefore, if possible, solving for unique, exact solutions should be of utmost importance when determining the dynamics of a system. In general, to solve a dynamical system, there must be a sufficient number of invariant equations about symmetries, or conservation quantities, to reduce the degrees of freedom of the system. One of the most renown dynamical systems is the n-body problem; this thesis will aim to provide a sufficient number of conservation quantities for the special case of the n- body problem that involves only simultaneous elastic collisions of free particles by analytical and experimental methods as well as present general formulations of newly theorized conservation quantities associated with any dynamical system. This thesis also presents the proof of existence of analytical solutions in the three-body collision stated above using Bezout’s theorem.
    [Show full text]
  • Actergy As a Reflex Performance Metric
    Actergy as a Reflex Performance Metric: Integral-Kinematics Applications Ryan Janzen, Steve Mann Department of Electrical and Computer Engineering, University of Toronto Abstract—Actergy, the time-integral of energy, is employed in $ a human kinetic sensing system. This paper presents hardware and signal-processing mathematics to measure actergy in a health n "# j "# science, training or gaming environment, as a more detailed x a "# metric of performance than reflex time-delay. Fundamental quan- v "# tities of Integral-Kinematics are compared alongside actergy, with x "# x "# further potential applications in aerospace. A "# ! B "# $ ! C "# $ ! NTRODUCTION I. I D "# $ ! We introduce a new type of physical fitness metric for training, human health science, and interactive gaming. $ We propose actergy, the time-integral of energy expendi- P "# ture (unlike power, the time-derivative of energy), as a new K "# metric for reflex tests and reflex-based interactive games. "# Rather than previous reflex-measurement methods which use time-delay between stimulus and response as the metric for Fig. 1. The time-integrals of displacement are fundamental kinematic reflex performance [1]–[3], actergy takes into account the quantities that complete the sequence of “kines” of displacement in both directions. Energy can also be time-integrated, leading to actergy. Actergy complete waveform of energy expenditure, not merely two we propose as a generalized analogue to Lagrangian action, which itself is data points (start time and end time). Actergy, as the time- specifically an integral of kinetic energy minus potential energy of a system. integral of energy, is biased towards rewarding early power Subject(1) Subject(2) expenditure, making it well suited for continuously-varying 150 150 reflex measurements.
    [Show full text]
  • The Xyolin, a 10-Octave Continuous-Pitch
    Note C D E F G A B C Pythagorean Tuning 204 204 90 204 204 204 90 THE XYOLIN, A 10-OCTAVE CONTINUOUS-PITCH XYLOPHONE, Ptolemaic Tuning 204 182 112 204 182 204 112 Mean-tone Temperament 193 193 117 193 193 193 117 AND OTHER EXISTEMOLOGICAL INSTRUMENTS Werckmeister I 192 198 108 198 192 204 108 Equal Temperament 200 200 100 200 200 200 100 Steve Mann and Ryan Janzen Table 1. Diatonic overview of several historical tuning systems. All interval values are expressed in cents. University of Toronto, Faculties of Engineering, Arts&Sci., and Forestry now play together with any scale that is presented by mu- 600 sicians, ranging from alternative scales to ethnic instru- ABSTRACT these senses, i.e. instruments that are tactile (and can thus, 500 ments. Any alteration in the scale is noticed directly, and A class of truly acoustic, yet computational musical in- for example, be played and enjoyed without the ear—they can even be enjoyed by the deaf), and instruments that are 400 can the scale can be adjusted. struments is presented. The instruments are based on physi- phones (instruments where the initial sound-production is “Readymades” in the Duchamp/Seth Kim-Cohen sense (with 300 the existential self-deterimination of the DIY “maker” cul- 5. FUTURE WORK physical rather than virtual), which have been outfitted 200 with computation and tactuation, such that the final sound ture). 100 The interface of Tarsos will be provided with a scale visu- delivery is also physical. 2. BACKGROUND AND PRIOR WORK Number o f annotations In one example, a single plank of wood is turned into alization that does not refer to the Western keyboard and The work presented in this paper can be thought of as 99 231 363 495 633 756 897 10351167 that comprises the size of the intervals as an ecological a continuous-pitch xylophone in which the initial sound Pitch (cent) an extension of the concept of physiphones [Mann, 2007] user interface.
    [Show full text]
  • The Ponderomotive Lorentz Force
    The ponderomotive Lorentz force Graham Cox∗ and Mark Leviy February 25, 2020 Abstract This paper describes a curious phenomenon: a particle in a rapidly varying potential is sub- ject to an effective magnetic-like force. This force is in addition to the well-known ponderomotive force, but it has not been shown to exist before except for the linear case of a rapidly rotating quadratic saddle potential. We show that this is a universal phenomenon: the magnetic-like force arises generically in potential force fields with rapid periodic time dependence, including but not limited to rotational dependence. 1 Introduction The main point of the paper It is a fundamental fact of nature that a changing electric field creates a magnetic field—for in- stance, a rotating electric dipole creates a magnetic field perpendicular to the plane of rotation. Remarkably, an analogous situation arises in mechanics: a changing mechanical force field creates a magnetic-like force upon a particle, provided that the change is of high frequency. An example, arXiv:1707.04970v2 [math.DS] 24 Feb 2020 Figure 1: The value of a rotating potential evaluated at a co-rotating point is constant in time: −1 U(R(τ)y; τ) = U0(y), and hence U(x; τ) = U0(R (τ)x). arising in numerous physical settings, is the motion of a particle in a saddle potential undergoing rapid rotations, as shown in Figure 1. A rotating potential U(x; t) is obtained by composing a fixed 2 potential U0(x); x 2 R , with the rotation through a rapidly changing angle t=": −1 U := U0 ◦ R (t="); ∗Department of Mathematics and Statistics, Memorial University of Newfoundland.
    [Show full text]
  • Neck Strength-Endurance Assessment: Potential Utility in Sport-Related Concussion
    Neck Strength-Endurance Assessment: Potential Utility in Sport-Related Concussion by Mary Claire Geneau A thesis submitted in conformity with the requirements for the degree of Master of Exercise Science Graduate Department of Exercise Science University of Toronto © Copyright by Mary Claire Geneau 2019 Neck Strength-Endurance Assessment: Potential Utility in Sport-Related Concussion Mary Claire Geneau Master of Exercise Science Graduate Department of Exercise Science University of Toronto 2019 Abstract Neck strength may modify the risk of sport related concussion by controlling head acceleration during high risk impacts. The majority of literature evaluates maximal neck strength leaving other parameters less-explored. Thus, the purpose of this study was to assess neck strength- endurance in male and female athletes. We hypothesized: (1) females would perform poorer on the neck assessment compared to males; (2) athletes with a history of concussion would perform poorer than those with no history of concussion. Neck strength-endurance (flexion, extension, left and right flexion) was assessed in ninety-seven (n = 97) interuniversity athletes. The majority (68%) of participants failed one or more directions of the neck assessment, and most often in flexion (38%) and bi-lateral flexion (33%). There were no significant differences in neck strength-endurance between participants with and without history of concussion or between sexes. These results support assessing neck parameters in an attempt to reduce direction-specific deficits. ii Table
    [Show full text]