Kinematic chainIn mechanical engineering, a kinematic chain is an assembly of rigid bodies connected by joints to provide constrained motion that is the mathematical model for a mechanical system. As the word chain suggests, the rigid bodies, or links, are constrained by their connections to other links. An example is the simple open chain formed by links connected in series, like the usual chain, which is the kinematic model for a typical robot manipulator. Mathematical models of the connections, or joints, between two links are termed kinematic pairs.
Energy–momentum relationIn physics, the energy–momentum relation, or relativistic dispersion relation, is the relativistic equation relating total energy (which is also called relativistic energy) to invariant mass (which is also called rest mass) and momentum. It is the extension of mass–energy equivalence for bodies or systems with non-zero momentum. It can be written as the following equation: This equation holds for a body or system, such as one or more particles, with total energy E, invariant mass m0, and momentum of magnitude p; the constant c is the speed of light.
Nuclear fissionNuclear fission is a reaction in which the nucleus of an atom splits into two or more smaller nuclei. The fission process often produces gamma photons, and releases a very large amount of energy even by the energetic standards of radioactive decay. Nuclear fission was discovered on 19 December 1938 in Berlin by German chemists Otto Hahn and Fritz Strassmann. Physicists Lise Meitner and her nephew Otto Robert Frisch explained it theoretically in January 1939. Frisch named the process "fission" by analogy with biological fission of living cells.
Mass in special relativityThe word "mass" has two meanings in special relativity: invariant mass (also called rest mass) is an invariant quantity which is the same for all observers in all reference frames, while the relativistic mass is dependent on the velocity of the observer. According to the concept of mass–energy equivalence, invariant mass is equivalent to rest energy, while relativistic mass is equivalent to relativistic energy (also called total energy).
KinematicsKinematics is a subfield of physics, developed in classical mechanics, that describes the motion of points, bodies (objects), and systems of bodies (groups of objects) without considering the forces that cause them to move. Kinematics, as a field of study, is often referred to as the "geometry of motion" and is occasionally seen as a branch of mathematics. A kinematics problem begins by describing the geometry of the system and declaring the initial conditions of any known values of position, velocity and/or acceleration of points within the system.
Center-of-momentum frameIn physics, the center-of-momentum frame (COM frame), also known as zero-momentum frame, is the inertial frame in which the total momentum of the system vanishes. It is unique up to velocity, but not origin. The center of momentum of a system is not a location, but a collection of relative momenta/velocities: a reference frame. Thus "center of momentum" is a short for "center-of-momentum ". A special case of the center-of-momentum frame is the center-of-mass frame: an inertial frame in which the center of mass (which is a single point) remains at the origin.
Neutron cross sectionIn nuclear physics, the concept of a neutron cross section is used to express the likelihood of interaction between an incident neutron and a target nucleus. The neutron cross section σ can be defined as the area in cm2 for which the number of neutron-nuclei reactions taking place is equal to the product of the number of incident neutrons that would pass through the area and the number of target nuclei. In conjunction with the neutron flux, it enables the calculation of the reaction rate, for example to derive the thermal power of a nuclear power plant.
Nuclear fuelNuclear fuel is material used in nuclear power stations to produce heat to power turbines. Heat is created when nuclear fuel undergoes nuclear fission. Most nuclear fuels contain heavy fissile actinide elements that are capable of undergoing and sustaining nuclear fission. The three most relevant fissile isotopes are uranium-233, uranium-235 and plutonium-239. When the unstable nuclei of these atoms are hit by a slow-moving neutron, they frequently split, creating two daughter nuclei and two or three more neutrons.
MassMass is an intrinsic property of a body. It was traditionally believed to be related to the quantity of matter in a physical body, until the discovery of the atom and particle physics. It was found that different atoms and different elementary particles, theoretically with the same amount of matter, have nonetheless different masses. Mass in modern physics has multiple definitions which are conceptually distinct, but physically equivalent.
Inverse kinematicsIn computer animation and robotics, inverse kinematics is the mathematical process of calculating the variable joint parameters needed to place the end of a kinematic chain, such as a robot manipulator or animation character's skeleton, in a given position and orientation relative to the start of the chain. Given joint parameters, the position and orientation of the chain's end, e.g. the hand of the character or robot, can typically be calculated directly using multiple applications of trigonometric formulas, a process known as forward kinematics.
