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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.

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All sourcesNASA NTRSDOE OSTI
NASA NTRS1988

The use of the articulated total body model as a robot dynamics simulation tool

The Articulated Total Body (ATB) model is a computer sumulation program which was originally developed for the study of aircrew member dynamics during ejection from high-speed aircraft. This model is totally three-dimensional and is based on the rigid body dynamics of coupled systems which use Euler's equations of motion with constraint relations of the type employed in the Lagrange method. In this paper the use of the ATB model as a robot dynamics simulation tool is discussed and various simulations are demonstrated. For this purpose the ATB model has been modified to allow for the application of torques at the joints as functions of state variables of the system. Specifically, the motion of a robotic arm with six revolute articulations with joint torques prescribed as functions of angular displacement and angular velocity are demonstrated. The simulation procedures developed in this work may serve as valuable tools for analyzing robotic mechanisms, dynamic effects, joint load transmissions, feed-back control algorithms employed in the actuator control and end-effector trajectories.

Obergfell, Louise A.↗
NASA NTRS1997

The Decay of Optical Emission from the gamma-Ray Burst GRB970228

The origin of gamma-ray bursts has been one of the great unsolved mysteries in high-energy astrophysics for almost 30 years. The recent discovery of fading sources at X-ray and optical wavelengths coincident with the location of the gamma-ray burst GRB970228 therefore provides an unprecedented opportunity to probe the nature of these high-energy events. The optical counterpart appears to be a transient point source embedded in a region of extended nebulosity, the latter having been tentatively identified as a high-redshift galaxy. This would seem to favour models that place gamma-ray bursts at cosmological distances, although a range of mechanisms for producing the bursts is still allowed. A crucial piece of information for distinguishing between such models is how the brightness of the optical counterpart evolves with time. Here we re-evaluate the existing photometry of the optical counterpart of GRB970228 to construct an optical light curve for the transient event. We find that between 21 hours and six days after the burst, the R-band brightness decreased by a factor of approximately 40, with any subsequent decrease in brightness occurring at a much slower rate. As the point source faded, it also became redder. The initial behaviour of the source appears to be consistent with the 'fireball' model, but the subsequent decrease in the rate of fading may prove harder to explain.

Galama, T.↗