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At least 217 records · Page 12
All sourcesNASA NTRSDOE OSTI
NASA NTRS1983

Kinematic equations for resolved-rate control of an industrial robot arm

An operator can use kinematic, resolved-rate equations to dynamically control a robot arm by watching its response to commanded inputs. Known resolved-rate equations for the control of a particular six-degree-of-freedom industrial robot arm and proceeds to simplify the equations for faster computations are derived. Methods for controlling the robot arm in regions which normally cause mathematical singularities in the resolved-rate equations are discussed.

Barker, L. K.↗
NASA NTRS1984

First order ball bearing kinematics

Two first order equations are given connecting geometry and internal motions in an angular contact ball bearing. Total speed, kinematic equivalence, basic speed ratio, and modal speed ratio are defined and discussed; charts are given for the speed ratios covering all bearings and all rotational modes. Instances where specific first order assumptions might fail are discussed, and the resulting effects on bearing performance reviewed.

Kingbury, E.↗
NASA NTRS1984

Kinematic analysis of Hurricane Frederick (1979) using satellite, aircraft and Rawinsonde data

Results of kinematic analyses of Hurricane Frederick (1979) performed using satellite wind vectors, aircraft measurements and rawinsonde data are presented. The data were gathered, reduced, preliminarily integrated and used to analyze the structure of the storm in the inflow and outflow layers. The mean structure at large radii is in good agreement with composite analyses of tropical cyclones. Changes in the storm structure from 11 to 12 Sep. 1979 suggest that remote sensing techniques are useful in monitoring storm intensity. A more sophisticated integration of the various data, including determination of optimum heights for satellite wind vectors, is underway.

Frank, W. M.↗
NASA NTRS1984

The kinematic Stirling engine as an energy conversion subsystem for paraboloidal dish solar thermal plants

The potential of a suitably designed and economically manufactured Stirling engine as the energy conversion subsystem of a paraboloidal dish-Stirling solar thermal power module was estimated. Results obtained by elementary cycle analyses were shown to match quite well the performance characteristics of an advanced kinematic Stirling engine, the United Stirling P-40, as established by current prototypes of the engine and by a more sophisticated analytic model of its advanced derivative. In addition to performance, brief consideration was given to other Stirling engine criteria such as durability, reliability, and serviceability. Production costs were not considered here.

Bowyer, J. M.↗
NASA NTRS1984

Kinematic control of robot with degenerate wrist

Kinematic resolved rate equations allow an operator with visual feedback to dynamically control a robot hand. When the robot wrist is degenerate, the computed joint angle rates exceed operational limits, and unwanted hand movements can result. The generalized matrix inverse solution can also produce unwanted responses. A method is introduced to control the robot hand in the region of the degenerate robot wrist. The method uses a coordinated movement of the first and third joints of the robot wrist to locate the second wrist joint axis for movement of the robot hand in the commanded direction. The method does not entail infinite joint angle rates.

Barker, L. K.↗
NASA NTRS1983

The kinematics and structure of N49

The present investigation of N49, which is located in the Large Magellanic Cloud (LMC), makes use of an analysis of optical emission-line profiles. Echelle spectrograph observations indicate the large-scale kinematic and structural properties of N49. It is found that this supernova remnant (SNR) is evolving in a clumpy interstellar medium (ISM), probably as many other remnants are. The very high resolution spectra of this remnant show three kinds of spectral feature, called broad bands, narrow bands, and spikes. It is shown that N49 can be regarded as the product of a supernova explosion in a heterogeneous interstellar medium. The heterogeneity is indicated in low-speed and high-speed systems of shocked material in N49.

Shull, P., Jr.↗
NASA NTRS1984

Spiral structure and star formation. II - Stellar lifetimes and cloud kinematics

The reliability studies using continuum gas dynamical calculations becomes questionable in connection with the apparent clumpiness of the Galaxy's interstellar medium (ISM). Roberts and Hausman (1984) have, therefore, presented a detailed model of a disk galaxy in which the ISM consists entirely of 'cloud particles', which orbit ballistically in the galaxy's gravitational field, collide inelastically with one another, and give birth to and subsequently interact with young star associations. The effects of changing the clouds's collisional mean free path have been examined, and the variations in the young star system's spiral morphology have been explored. The present investigation is concerned with a further study of this clumpy, cloudy ISM model, taking into account longer mean free path models likely to be appropriate for systems of molecular clouds. Attention is also given to the kinematics of clouds as they orbit under the influence of galactic gravity, collisions, and supernova remnants.

Hausman, M. A.↗
NASA NTRS1986

Kinematic Stirling Engine Performance

Computer program developed for analyzing thermodynamic characteristics of kinematic Stirling engine. Computes time-varying piston positions, pressures, and gas temperatures in each of gas-control volumes into which engine working space is divided. Engine performance characterized by calculations of power and efficiency (both indicated and brake). Inputs to code are engine geometrical parameter, engine-operating conditions, and indexes that specify various options available.

Tew, J. R. C.↗
NASA NTRS1984

Kinematic analysis of Hurricane Frederick (1979) using satellite, aircraft and rawinsonde data

Results of kinematic analyses of Hurricane Frederick (1979) performed using satellite wind vectors, aircraft measurements and rawinsonde data are presented. The data were gathered, reduced, preliminarily integrated and used to analyze the structure of the storm in the inflow and outflow layers. The mean structure at large radii is in good agreement with composite analyses of tropical cyclones. Changes in the storm structure from 11 to 12 Sep. 1979 suggests that remote sensing techniques may be useful in monitoring storm intensity.

Frank, W. M.↗
NASA NTRS1985

NGC 2110 - A Seyfert and X-ray elliptical galaxy with displaced kinematic and light centers

Kinematic and imaging observations of NGC 2110 are reported and it is found that the interstellar gas is orbiting with projected rotation axis parallel to the minor axis of the stellar light. The rotation curve is steep close to the center and flat farther out. However, the nucleus is displaced by about 220 pc from the apparent mass center of the galaxy. This last result is discussed in terms of models invoking differential obscuration of stars and gas, non-Keplerian motion of the gas, or a large mass of unseen material which dominates the rotation curve.

Wilson, A. S.↗
NASA NTRS1985

RR Lyrae stars and the distant Galactic halo - Distribution, chemical composition, kinematics, and dynamics

Published observational data on 29 outer-Galactic-halo RR Lyr stars (Saha, 1984, and Saha and Oke, 1984) and from other surveys are analyzed to characterize the mass distribution, chemical composition, kinematics, and dynamics of the outer Galaxy (up to galactocentric radius R = 40 kpc). The results are presented in graphs and tables and discussed. Findings reported include a rapid fall-off of RR Lyr density at R = 25 kpc, Fe/H varying from -1.0 to -2.2 (with two stars at -0.5), no net Fe/H gradient in the far halo, and Galactic mass (from dynamical computations) about 3 x 10 to the 11th solar mass within R = 25 kpc.

Saha, A.↗
NASA NTRS1985

First-order ball-bearing kinematics

Two first-order equations are given connecting geometry and internal motions in an angular-contact ball bearing. Total speed, kinematic equivalence, basic speed ratio, and modal speed ratio are defined and discussed; charts are given for the speed ratios covering all bearings and all rotational modes. Instances where specific first-order assumptions might fail are discussed, and the resulting effects on bearing performance reviewed.

Kingsbury, E.↗
NASA NTRS1985

Kinematics and ionization of extended ionized gas in active galaxies. I - The X-ray luminous galaxies NGC 2110, NGC 5506, and MCG -5-23-16

Direct CCD imaging and long-slit Vidicon spectroscopy have been used to map the emission-line ratios, profiles, and velocity fields over the extended narrow-line regions in three nearby Seyfert galaxies, NGC 2110, NGC 5506, and MCG -5-23-16. The gas in the letter is spatially unresolved. Similarities between the other two nebulae include the excitation mechanism (photoionization by a central nonthermal source) and the overall profiles of the very broad emission lines close to the nucleus. The nebulae are, however, quite different in their global kinematic behavior. In NGC 2110, the gas appears to lie in a disk or flattened spheroid and to be in ordered rotation, with a classical rotation curve, about an axis parallel to the minor axis of the stellar isophotes. The velocity field of NGC 5506 is quite irregular, but a component of rotation in the plane of the galaxy seems to exist.

Wilson, A. S.↗
NASA NTRS1985

One-dimensional kinematics of particle stream flow with application to solar wind simulation

A simple kinematic method for determining the particle velocity distribution of a model solar wind for which the spatial distribution of particles is given as a function of particle travel time has been developed by Hakamada and Akasofu (1982). Here their method is formalized mathematically and an inverse procedure for determining the particle distribution from a given velocity distribution is derived. This inverse procedure is then applied to a simulated velocity distribution obtained from an MHD finite difference code.

Olmsted, C.↗
NASA NTRS1985

Constraints on Pacific plate kinematics and dynamics with global positioning system measurements

A measurement program designed to investigate kinematic and dynamic aspects of plate tectonics in the Pacific region by means of satellite observations is proposed. Accuracy studies are summarized showing that for short baselines (less than 100 km), the measuring accuracy of global positioning system (GPS) receivers can be in the centimeter range. For longer baselines, uncertainty in the orbital ephemerides of the GPS satellites could be a major source of error. Simultaneous observations at widely (about 300 km) separated fiducial stations over the Pacific region, should permit an accuracy in the centimeter range for baselines of up to several thousand kilometers. The optimum performance level is based on the assumption of that fiducial baselines are known a priori to the centimeter range. An example fiducial network for a GPS study of the South Pacific region is described.

Dixon, T. H.↗
NASA NTRS1985

Ultraviolet interstellar absorption toward stars in the Small Magellanic Cloud. III - The structure and kinematics of the Small Magellanic Cloud

The structural and kinematic properties of the Small Magellanic Cloud (SMC) were studied by combining IUE satellite observations of individual bright stars (Sk 159 and HD 5980) with existing optical and radio data. It is shown that the SMC has a complex structure due to gravitational interaction with the Milky Way and the Large Magellanic Cloud (LMC). Stars observed in the southwest regions of the SMC were associated with the 134 km/s H I complex. H II regions in the SMC were distributed according to a rotational velocity of 167 km/s. All IUE high-dispersion targets exhibit ultraviolet absorption near 100 km/s and 200 km/s. It is shown that the absorption arises in the widespread H I complexes at velocities similar to the H II regions. Some possible explanations for the origin of H II and H I regions in the SMC are discussed. The locations of the nine high-dispersion IUE targets in the SMC are given.

Fitzpatrick, E. L.↗
NASA NTRS1985

Kinematics of foldable discrete space cranes

Exact kinematic description of a NASA proposed prototype foldable-deployable discrete space crane are presented. A computer program is developed which maps the geometry of the crane once controlling parameters are specified. The program uses a building block type approach in which it calculates the local coordinates of each repeating cell and then combines them with respect to a global coordinates system.

Nayfeh, A. H.↗
NASA NTRS1986

A study of tectonic activity in the Basin-Range Province and on the San Andreas Fault. No. 1: Kinematics of Basin-Range intraplate extension

Strain rates assessed from brittle fracture and total brittle-ductile deformation measured from geodetic data were compared to estimates of paleo-strain from Quaternary geology for the intraplate Great Basin part of the Basin-Range, western United States. These data provide an assessment of the kinematics and mode of lithospheric extension that the western U.S. Cordillera has experienced from the past few million years to the present. Strain and deformation rates were determined by the seismic moment tensor method using historic seismicity and fault plane solutions for sub-regions of homogeneous strain. Contemporary deformation in the Great Basin occurs principally along the active seismic zones. The integrated opening rate across the entire Great Basin is accommodated by E-E extension at 8 to 10 mm/a in the north that diminishes to NW-SE extension of 3.5 mm/a in the south. Zones of maximum lithospheric extension correspond to belts of thin crust, high heat flow, and Quaternary basaltic volcanism, suggesting that these parameters are related through mechanism of extension such as a stress relaxation, allowing bouyant uplift and ascension of magmas.

Eddington, P. K.↗