Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “kinematics and dynamics”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 181 records · Page 10
All sourcesNASA NTRSDOE OSTI
NASA NTRS1992

User's Manual for Aerofcn: a FORTRAN Program to Compute Aerodynamic Parameters

The computer program AeroFcn is discussed. AeroFcn is a utility program that computes the following aerodynamic parameters: geopotential altitude, Mach number, true velocity, dynamic pressure, calibrated airspeed, equivalent airspeed, impact pressure, total pressure, total temperature, Reynolds number, speed of sound, static density, static pressure, static temperature, coefficient of dynamic viscosity, kinematic viscosity, geometric altitude, and specific energy for a standard- or a modified standard-day atmosphere using compressible flow and normal shock relations. Any two parameters that define a unique flight condition are selected, and their values are entered interactively. The remaining parameters are computed, and the solutions are stored in an output file. Multiple cases can be run, and the multiple case solutions can be stored in another output file for plotting. Parameter units, the output format, and primary constants in the atmospheric and aerodynamic equations can also be changed.

Conley, Joseph L.↗
NASA NTRS1992

Steady induction effects in geomagnetism. Part 1A: Steady motional induction of geomagnetic chaos

Geomagnetic effects of magnetic induction by hypothetically steady fluid motion and steady magnetic flux diffusion near the top of Earth's core are investigated using electromagnetic theory, simple magnetic earth models, and numerical experiments with geomagnetic field models. The problem of estimating a steady fluid velocity field near the top of Earth's core which induces the secular variation indicated by broad-scale models of the observed geomagnetic field is examined and solved. In Part 1, the steady surficial core flow estimation problem is solved in the context of the source-free mantle/frozen-flux core model. In the first paper (IA), the theory underlying such estimates is reviewed and some consequences of various kinematic and dynamic flow hypotheses are derived. For a frozen-flux core, fluid downwelling is required to change the mean square normal magnetic flux density averaged over the core-mantle boundary. For surficially geostrophic flow, downwelling implies poleward flow. The solution of the forward steady motional induction problem at the surface of a frozen-flux core is derived and found to be a fine, easily visualized example of deterministic chaos. Geomagnetic effects of statistically steady core surface flow may well dominate secular variation over several decades. Indeed, effects of persistent, if not steady, surficially geostrophic core flow are described which may help explain certain features of the present broad-scale geomagnetic field and perhaps paleomagnetic secular variation.

Voorhies, Coerte V.↗
NASA NTRS1991

Recent technology products from Space Human Factors research

The goals of the NASA Space Human Factors program and the research carried out concerning human factors are discussed with emphasis given to the development of human performance models, data, and tools. The major products from this program are described, which include the Laser Anthropometric Mapping System; a model of the human body for evaluating the kinematics and dynamics of human motion and strength in microgravity environment; an operational experience data base for verifying and validating the data repository of manned space flights; the Operational Experience Database Taxonomy; and a human-computer interaction laboratory whose products are the display softaware and requirements and the guideline documents and standards for applications on human-computer interaction. Special attention is given to the 'Convoltron', a prototype version of a signal processor for synthesizing the head-related transfer functions.

Jenkins, James P.↗
NASA NTRS1991

Reliable fusion of control and sensing in intelligent machines

Although robotics research has produced a wealth of sophisticated control and sensing algorithms, very little research has been aimed at reliably combining these control and sensing strategies so that a specific task can be executed. To improve the reliability of robotic systems, analytic techniques are developed for calculating the probability that a particular combination of control and sensing algorithms will satisfy the required specifications. The probability can then be used to assess the reliability of the design. An entropy formulation is first used to quickly eliminate designs not capable of meeting the specifications. Next, a framework for analyzing reliability based on the first order second moment methods of structural engineering is proposed. To ensure performance over an interval of time, lower bounds on the reliability of meeting a set of quadratic specifications with a Gaussian discrete time invariant control system are derived. A case study analyzing visual positioning in robotic system is considered. The reliability of meeting timing and positioning specifications in the presence of camera pixel truncation, forward and inverse kinematic errors, and Gaussian joint measurement noise is determined. This information is used to select a visual sensing strategy, a kinematic algorithm, and a discrete compensator capable of accomplishing the desired task. Simulation results using PUMA 560 kinematic and dynamic characteristics are presented.

Mcinroy, John E.↗
NASA NTRS1991

Experimental validation of docking and capture using space robotics testbeds

This presentation describes the application of robotic and computer vision systems to validate docking and capture operations for space cargo transfer vehicles. Three applications are discussed: (1) air bearing systems in two dimensions that yield high quality free-flying, flexible, and contact dynamics; (2) validation of docking mechanisms with misalignment and target dynamics; and (3) computer vision technology for target location and real-time tracking. All the testbeds are supported by a network of engineering workstations for dynamic and controls analyses. Dynamic simulation of multibody rigid and elastic systems are performed with the TREETOPS code. MATRIXx/System-Build and PRO-MATLAB/Simulab are the tools for control design and analysis using classical and modern techniques such as H-infinity and LQG/LTR. SANDY is a general design tool to optimize numerically a multivariable robust compensator with a user-defined structure. Mathematica and Macsyma are used to derive symbolically dynamic and kinematic equations.

Spofford, John↗
NASA NTRS1993

The effect of massive stars on the ionized medium of extragalactic HII regions

Giant extragalactic H2 regions (GEHR) are centers of active star formation, ionized by populous clusters of OB stars. These objects are characterized by their low electron density, linear dimensions of order of 10(exp 2) - 10(exp 3) pc, varied morphology, and inhomogeneous distribution of the gas. They are ideal laboratories to study the processes of interaction between the gas and the stars, that could then be extended to the study of H2 and starburst galaxies. An observational program on a selected group of giant H2 regions with the use of one- and two-dimensional spectroscopy is being conducted. Our aim is two-fold: to understand the internal structure of the regions and to study the kinematics and dynamics of the ionized gas. A short report of our ongoing research is presented.

Castaneda, Hector O.↗
NASA NTRS1991

Reliable automatic plan selection for visual robotic positioning

Reliability analysis techniques developed for robotics are applied to a six-DOF (degree-of-freedom) visual positioning system. The task is to measure an object's pose and then grip the object reliably subject to time and accuracy constraints. Errors due to pixel truncation in the stadimetric vision system, forward kinematic and inverse kinematic uncertainties, and joint position and velocity noise are stochastically modeled. Simulation results for PUMA 500 kinematic and dynamic characteristics are presented.

Mcinroy, John E.↗
NASA NTRS1993

Are groups of galaxies virialized systems?

Groups are systems of galaxies with crossing times t(cr) much smaller than the Hubble time. Most of them have t(cr) less than 0.1/H0. The usual interpretation is that they are in virial equilibrium. We compare the data of the group catalog selected from the CfA redshift survey extension with different N-body models. We show that the distributions of kinematic and dynamical quantities of the groups in the CfA catalog can be reproduced by a single collapsing group observed along different line of sights. This result shows that (1) projection effects dominate the statistics of these systems, and (2) observed groups of galaxies are probably still in the collapse phase.

Diaferio, Antonaldo↗
NASA NTRS1992

Performance of the ice motion tracker at the Alaska SAR facility

An ice motion tracker has been implemented as part of the Ice/Ocean Geophysical Processor System (GPS) at the Alaska Synthetic Aperture Radar (SAR) Facility. The motion tracker operates in an unsupervised mode and utilizes a combination of feature-based and area-based matching to construct the displacement field from time-separated SAR imagery. The tracker is used to generate routine motion products for investigations of the kinematics and dynamics of sea ice in the polar regions. A number of filters for elimination of outliers and incorrect matches have been implemented to maintain the quality of the motion vector product. Preliminary evaluation of the tracking algorithm with European Space Agency Remote Sensing Satellite (ERS-1) data indicate that these requirements are satisfied. The performance and shortcomings of the motion tracker are discussed.

Kwok, Ronald↗
NASA NTRS1993

Active control of asymmetric conical flow using spinning and rotatory oscillations

The effectiveness of active control on asymmetric flows around circular cones is investigated computationally using cone spinning and rotatory oscillation around its axis. The investigation uses the time-accurate solution of the unsteady, compressible, full Navier-Stokes equations with the implicit, upwind, flux-difference splitting, finite-volume scheme. The present solutions are obtained under the locally-conical-flow assumption in order to understand the flow physics using very fine grids for reasonable flow resolution at low computational cost. For all the computational solutions, a grid of 241 x 81 x 2 points in the wrap-around, normal and axial directions, respectively, is used. The grid is spinning or oscillating rigidly with the cone according to its motion and the kinematical and dynamical boundary conditions are modified accordingly. The computational applications include the effects of uniform spinning rates and periodic rotatory oscillations at different amplitudes and frequencies on the flow asymmetry.

Kandil, Osama A.↗
NASA NTRS1993

Development of the wake behind a circular cylinder impulsively started into rotatory and rectilinear motion

The temporal development of a 2D viscous incompressible flow generated by a circular cylinder started impulsively into steady rotatory and rectilinear motion is studied by integration of a velocity/vorticity formulation of the governing equations, using an explicit finite-difference/pseudo-spectral technique and an implementation of the Biot-Savart law. Results are presented for a Reynolds number of 200 (based on the cylinder diameter 2a and the magnitude U of the rectilinear velocity) for several values of the angular/rectilinear speed ratio alpha = omega(a)/U (where omega is the angular speed) up to 3.25. Several aspects of the kinematics and dynamics of the flow not considered earlier are discussed. For higher values of alpha, the results indicate that for Re = 200, vortex shedding does indeed occur for alpha = 3.25. However, consecutive vortices shed by the body can be shed from the same side and be of the same sense, in contrast to the nonrotating case, in which mirror-image vortices of opposite sense are shed alternately on opposite sides of the body. The implications of the results are discussed in relation to the possibility of suppressing vortex shedding by open or closed-loop control of the rotation rate.

Chen, Yen-Ming↗
NASA NTRS1994

Dynamic Coordination Of A Two-Arm Robotic Manipulator

Report presents study of dynamical and kinematical considerations guiding selection of configuration of self-reconfigurable, two-arm robotic manipulator. Two multiple-link arms cooperate in manipulating single object, reconfiguring their mutual, cooperative structure according to changing task requirements.

Lee, Sukhan↗
NASA NTRS1993

Quantitative assessment of human motion using video motion analysis

In the study of the dynamics and kinematics of the human body a wide variety of technologies has been developed. Photogrammetric techniques are well documented and are known to provide reliable positional data from recorded images. Often these techniques are used in conjunction with cinematography and videography for analysis of planar motion, and to a lesser degree three-dimensional motion. Cinematography has been the most widely used medium for movement analysis. Excessive operating costs and the lag time required for film development, coupled with recent advances in video technology, have allowed video based motion analysis systems to emerge as a cost effective method of collecting and analyzing human movement. The Anthropometric and Biomechanics Lab at Johnson Space Center utilizes the video based Ariel Performance Analysis System (APAS) to develop data on shirtsleeved and space-suited human performance in order to plan efficient on-orbit intravehicular and extravehicular activities. APAS is a fully integrated system of hardware and software for biomechanics and the analysis of human performance and generalized motion measurement. Major components of the complete system include the video system, the AT compatible computer, and the proprietary software.

Probe, John D.↗
NASA NTRS1994

Technology transfer of operator-in-the-loop simulation

The technology developed for operator-in-the-loop simulation in space teleoperation has been applied to Caterpillar's backhoe, wheel loader, and off-highway truck. On an SGI workstation, the simulation integrates computer modeling of kinematics and dynamics, real-time computational and visualization, and an interface with the operator through the operator's console. The console is interfaced with the workstation through an IBM-PC in which the operator's commands were digitized and sent through an RS-232 serial port. The simulation gave visual feedback adequate for the operator in the loop, with the camera's field of vision projected on a large screen in multiple view windows. The view control can emulate either stationary or moving cameras. This simulator created an innovative engineering design environment by integrating computer software and hardware with the human operator's interactions. The backhoe simulation has been adopted by Caterpillar in building a virtual reality tool for backhoe design.

Yae, K. H.↗
NASA NTRS1994

Coordinated control of a dual-arm dexterous robot using full immersion telepresence and virtual reality

Telepresence is an approach to teleoperation that provides egocentric, intuitive interactions between an operator and a remote environment. This approach takes advantage of the natural cognitive and sensory motor skills of an on-board crew and effectively transfers them to a slave robot. A dual alarm dexterous robot operating under telepresence control has been developed and initial evaluations of the system performing candidate EVA, IVA and planetary geological tasks were conducted. The results of our evaluation showed that telepresence control is very effective in transferring the operator's skills to the slave robot. However, the results also showed that, due to the kinematic and dynamics inconsistencies between the operator and the robot, a limited amount of intelligent automation is also required to carry out some to the tasks. Therefore, several enhancements have been made to the original system to increase the automated capabilities of the control system without losing the benefits of telepresence.

Li, Larry↗
NASA NTRS1994

The simulated Indian monsoon: A GCM sensitivity study

A series of sensitivity experiments are conducted in an attempt to understand and correct deficiencies in the simulation of the seasonal mean Indian monsoon with a global atmospheric general circulation model. The seasonal mean precipitation is less than half that observed. This poor simulation in seasonal integrations is independent of the choice of initial conditions and global sea surface temperature data used. Experiments are performed to test the sensitivity of the Indian monsoon simulation to changes in orography, vegetation, soil, wetness, and cloudiness. The authors find that the deficiency of the model precipitation simulation may be attributed to the use of an enhanced orography in the integrations. Replacement of this orography with a mean orography results in a much more realistic simulation of Indian monsoon circulation and rainfall. Experiments with a linear primitive equation model on the sphere suggest that this striking improvement is due to modulations of the orographically forced waves in the lower troposphere. This improvement in the monsoon simulation is due to the kinematic and dynamical effects of changing the topography, rather than the thermal effects, which were minimal. The magnitude of the impact on the Indian monsoon of the other sensitivity experiments varied considerably, but was consistently less than the impact of using the mean orography. However, results from the soil moisture sensitivity experiments suggest a possibly important role for soil moisture in simulating tropical precipitation, including that associated with the Indian monsoon.

Fennessy, M. J.↗
NASA NTRS1995

On th meridional surface profile of the Gulf Stream at 55 deg W

Nine-month records from nine inverted echo sounders (IESs) are analyzed to describe the mean baroclinic Gulf Stream at 55 deg W. IES acoustic travel times are converted to thermocline depth which is optimally interpolated. Kinematic and dynamic parameters (Gulf Stream meridional position, velocity, and vorticity) are calculated. Primary Gulf Stream variabiltiy is attributed to meandering and and changes in direction. A mean, stream-coordinate (relative to Gulf Stream instantaneous position and direction) meridional profile is derived and compared with results presented by other investigators. The mean velocity is estimated at 0.84 m/s directed 14 deg to the right eastward, and the thermocline (12 c) drops 657 m (north to south), corresponding to a baroclinic rise of the surface of 0.87 m. The effect of Gulf Stream curvature on temporal mean profiles is found to be unimportant and of minimal importance overall. The derived, downstream current profile is well represented by a Gaussian function and is about 190 km wide where it crosses zero. Surface baroclinic transport is estimated to be 8.5 x 10(exp 4) sq m/s, and maximum shear (flanking the maximum) is 1.2 x 10(exp -5). Results compare well with other in situ observational results from the same time period. On the other hand, analyses (by others) of concurrent satellite altimetry (Geosat) suggest a considerable narrower, more intense mean Gulf Stream.

Hallock, Zachariah R.↗
NASA NTRS1997

Determination and Control of Optical and X-Ray Wave Fronts

A successful design of a space-based or ground optical system requires an iterative procedure which includes the kinematics and dynamics of the system in operating environment, control synthesis and verification. To facilitate the task of designing optical wave front control systems being developed at NASA/MSFC, a multi-discipline dynamics and control tool has been developed by utilizing TREETOPS, a multi-body dynamics and control simulation, NASTRAN and MATLAB. Dynamics and control models of STABLE and ARIS were developed for TREETOPS simulation, and their simulation results are documented in this report.

Kim, Young K.↗