Usikov, Daniel | Engineering Papers

NASA NTRS1995

Hardware And Software For Development Of Robot Arms

System of modular, reusable hardware and software assembled for use in developing remotely controlled robotic arms. Includes (1) central computer and peripheral equipment at control and monitoring station and (2) remote mechanical platform that supports robotic arm. Central computer controls motor drives of robotic arm, but optically, platform holds on-board computer for autonomous operation. Consists mostly of commercial hardware and software. Simulated results of commands viewed in three dimensions.

Usikov, Daniel↗

NASA NTRS1994

Three-dimensional force-free looplike magnetohydrodynamic equilibria

Computations of three-dimensional force-free magnetohydrodynamic (MHD) equilibria, del x B = lambdaB with lambda = lambda(sub 0), a constant are presented. These equilibria are determined by boundary conditions on a surface corresponding to the solar photosphere. The specific boundary conditions used correspond to looplike magnetic fields in the corona. It is found that as lambda(sub 0) is increased, the loops of flux become kinked, and for sufficiently large lambda(sub 0), develop knots. The relationship between the kinking and knotting properties of these equilibria and the presence of a kink instability and related loss of equilibrium is explored. Clearly, magnetic reconnection must be involved for an unknotted loop equilibrium to become knotted, and speculations are made about the creation of a closed hyperbolic field line (X-line) about which this reconnection creating knotted field lines is centered.

Finn, John M.↗