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At least 253 records · Page 14
All sourcesNASA NTRSDOE OSTI
NASA NTRS1987

Collision detection for spacecraft proximity operations

Collision Detection for Spacecraft Proximity Operations This thesis describes the development of a new collision detection algorithm to be used when two spacecraft are operating in the same vicinity. The two spacecraft are modelled as unions of convex polyhedra, where the polyhedron resulting from the union may be either convex or nonconvex. The relative motion of the two spacecraft is assumed to be such that one vehicle is moving with constant linear and angular velocity with respect to the other. The algorithm determines if a collision is possible and, if so, predicts the time when the collision will take place. The theoretical basis for the new collision detection algorithm is the C-function formulation of the configuration space approach recently introduced by researchers in robotics. Three different types of C-functions are defined that model the contacts between the vertices, edges, and faces of the polyhedra representing the two spacecraft. These C-functions are used to formulate three "collision" conditions. The first of these conditions limits the points representing potential collisions to the zeros of the C-functions. The new algorithm is fundamentally a search for the smallest zero of any C-function that satisfies the second and third collision conditions. The C-functions are shown to be transcendental functions of time for the assumed trajectory of the moving spacecraft. The zeros of these functions cannot be expressed in dosed form. Therefore, numerical search procedures are developed to find aLl of the zeros of a C-function in specified bounded intervals of time. These bounded intervals of time are found by examining the second and third collision conditions. The capabilities of the new algorithm are demonstrated for several example cases. These include examples of collisions determined by zeros of each of the three different types of C-functions. In addition to predicting the time of first contact of the polyhedra, the algorithm identifies the features of the two polyhedra that are touching at this time. The new collision detection algorithm is the first such algorithm that is capable of solving the collision detection problem exactly for the case where the moving object has constant linear and angular velocities. This is a significant improvement on previous collision detection algorithms described in the literature. In particular, the ability to handle constant angular velocity represents a more realistic type of rotational motion than those which have been used in other algorithms.

Robin M Vaughan↗
NASA NTRSDate not supplied

Recent Improvements and Verification of A Full Body Model in Opensim

BACKGROUND: The dynamic feasibility [1,2] criterion, that the subject’s Center of Pressure (COP) be located within the Base of Support (BOS) which outlines the feet, has aided in assessing the stability of human motion recorded on earth while performing the recorded tasks in lunar gravity or as countermeasures exercises on a vibration isolation and stabilization system in microgravity. The convex hull of the BOS on the platform under the subject’s feet was estimated using virtual markers on the feet of the scaled subject model. The COP was calculated using the ground reaction forces and moments determined from motion capture data with biomechanical modeling tools [3]. Occasionally, large-amplitude oscillatory spikes or “artifacts” were observed in the subject’s linear and angular momentum derivatives, affecting some COP data derived from motion capture. The purpose of this investigation was to assess and improve the accuracy of model scaling and BOS estimation as well as to determine the efficacy of model adjustments in mitigating artifacts influencing motion capture-derived ground reaction force and COP results. METHODS: To aid evaluation of proposed process and model updates, motion capture data were collected for two subjects during unit test and range of motion trials, lunar tasks, and countermeasures exercise motions. Markers were added to the full body Plug-in Gait marker set [4] during data collection. New markers were placed on the front, back, sides, and top of the head to improve scaling using distances between marker pairs. Medial elbow markers were added to stabilize the upper arm during OpenSim Inverse Kinematics (IK) [5]. Finally, markers were added on the outer edge of the heels and on the outside edges of the first and last toes on each foot. These additional foot markers were made available to test new automated foot scaling techniques and to calculate the error between the subject’s estimated and recorded BOS. The modified unscaled OpenSim Full Body Rajagopal Model [6,7] was adjusted using some previously investigated techniques [8] to mitigate rapid shifts in joint angles occurring during IK, as these were found to cause the spike artifacts observed in subsequent stages of analysis. Since OpenSim models use Euler angles and rotation sequences, the arm axes of rotation were adjusted, and the pelvis order of rotation was changed to minimize the likelihood of encountering “gimbal lock” during common human motion. The model clavicle, arm, elbow, wrist, pelvis, and ankle angle limits were adjusted to better accommodate the full human range of motion seen in exercise and lunar data. The shoulder joint center was calculated using a “pivoting” algorithm [9], and both shoulder joint center and upper arm markers were included during IK to provide additional shoulder stability on a case-by-case basis. The quality of IK results was assessed by three criteria: minimizing error between recorded motion capture markers and model markers, checking for reasonable rates of change in joint angles between fames (i.e., no IK artifacts), and ensuring the absence of spikes in the inertial forces and angular momentum derivatives calculated using a custom OpenSim plugin [10]. RESULTS: The additional markers placed on the subject during data collection allowed the head and feet to be scaled more accurately using distances between new marker pairs. Scaling with BOS markers placed on the subject and removing the limit on subtalar angle resulted in more accurate BOS determination. Unrealistically large changes in joint angles between frames could be reduced by including clavicle, sternum, and medial elbow markers during IK. In cases with large arm ranges of motion, results could be further improved by running IK using medial elbow and virtual shoulder joint center markers. Model adjustments significantly improved the IK results affecting COP calculation and increased the accuracy of BOS estimation.

C A Bell↗
NASA NTRS2017

Estimation of Untracked Geosynchronous Population from Short-Arc Angles-Only Observations

Telescope observations of the geosynchronous regime will observe two basic types of objects --- objects related to geosynchronous earth orbit (GEO) satellites, and objects in highly elliptical geosynchronous transfer orbits (GTO). Because telescopes only measure angular rates, the GTO can occasionally mimic the motion of GEO objects over short arcs. A GEO census based solely on short arc telescope observations may be affected by these ``interlopers''. A census that includes multiple angular rates can get an accurate statistical estimate of the GTO population, and that then can be used to correct the estimate of the geosynchronous earth orbit population.

Healy, Liam↗
NASA NTRSDate not supplied

Development of Head-Trunk Coordination Measures for Monitoring Postflight Sensorimotor Readaptation Strategies

During exploration missions, individual health assessments will be required to account for variability in neurosensory adaptation and task readiness for the initial extravehicular activities (EVAs). Previous research has identified postflight vestibular alterations and disruptions in head-trunk coordination after both short and long duration spaceflight missions. Astronauts were found to minimize head angular displacement and utilize a consistent forward head tilt theorized as a compensatory approach to stabilize the cephalic system and reduce motion sickness during readaptation to Earth’s gravity. Further, anecdotal self-reports from Shuttle crewmembers stated that pitch and side-to-side head movements immediately post-landing typically resulted in perceived angular self-motion. Notable disruptions also occur upon arrival in orbit, with astronauts choosing waist rotation rather than head movements during dynamic tasks. It is thought that the underlying sensorimotor disruptions may contribute to motion sickness in space and upon landing, postflight gait dysfunction, and inaccurate spatial orientation when performing daily tasks. To better characterize microgravity-induced sensorimotor adaptations, it is important to develop measures and monitoring tools that have high sensitivity in detecting changes in head-trunk coordination.

H M Weiss↗
NASA NTRS1987

Collision mechanics and the structure of planetary ring edges

The present numerical simulation of collisional evolution, in the case of a hypothetical ring whose parameters are modeled after those of Saturn's rings, gives attention to changes in radial structure near the ring edges and notes that when random motion is in equilibrium, the rings tend to spread in order to conserve angular momentum while energy is dissipated in collisions. As long as random motion is damped, ring edges may contract rather than spread, producing a concentration of material at the ring edges. For isotropic scattering, damping dominates for a coefficient of restitution of velocity value of up to 0.83.

Spaute, Dominique↗
NASA NTRS1994

Angular momentum exchange among the solid Earth, atmosphere, and oceans: A case study of the 1982-1983 El Nino event

The 1982-1983 El Nino/Southern Oscillation (ENSO) event was accompanied by the largest interannual variation in the Earth's rotation rate on record. In this study we demonstrate that atmospheric forcing was the dominant cause for this rotational anomaly, with atmospheric angular momentum (AAM) integrated from 1000 to 1 mbar (troposphere plus stratosphere) accounting for up to 92% of the interannual variance in the length of day (LOD). Winds between 100 and 1 mbar contributed nearly 20% of the variance explained, indicating that the stratosphere can play a significant role in the Earth's angular momentum budget on interannual time scales. Examination of LOD, AAM, and Southern Oscillation Index (SOI) data for a 15-year span surrounding the 1982-1983 event suggests that the strong rotational response resulted from constructive interference between the low-frequency (approximately 4-6 year) and quasi-biennial (approximately 2-3 year) components of the ENSO phenomenon, as well as the stratospheric Quasi-Biennial Oscillation (QBO). Sources of the remaining LOD discrepancy (approximately 55 and 64 microseconds rms residual for the European Centre for Medium-Range Forecasting (EC) and U.S. National Meteorological Center (NMC) analyses) are explored; noise and systematic errors in the AAM data are estimated to contribute 18 and 33 microseconds, respectively, leaving a residual (rms) of 40 (52) microseconds unaccounted for by the EC (NMC) analysis. Oceanic angular momentum contributions (both moment of inertia changes associated with baroclinic waves and motion terms) are shown to be candidates in closing the interannual axial angular momentum budget.

Dickey, J. O.↗
NASA NTRS1986

Computations of atmospheric angular momentum, with emphasis on the merit period

Three-dimensional wind and pressure fields used to calculate effective angular momentum functions (EAMFs) for earth rotation/polar motion are produced by a complex 3-step system at the U.S. National Meteorological Center. The resulting series of functions have errors which can be estimated by comparisons with similar series produced by the European Center for Medium Range Weather Forecasts. For the axial wind component, related to length of day (lod) changes, the small differences between the two series of atmospheric angular momentum (AAM) are confined to the tropics and the higher latitudes of the Southern Hemisphere. In addition, differences between the seasonal components of the AAM series and those of lod are found to be significantly reduced by including the entire stratosphere's momentum. Comparisons of the EAMFs for 8 calendar years indicate substantial interannual variability exists in the annual amplitudes of these forcing terms. In particular, the axial AAM showed quite different behavior from normal in 1983 and 1984, the years of the MERIT campaign. These two years showed very high and low annual amplitudes for AAM, respectively, which can be attributed to the effect of the tropical Pacific sea surface warming (El Nino) and its aftermath.

Salstein, David A.↗
NASA NTRS1983

Ion trajectories in a space-charge wave on a relativistic electron beam

The motion of an ion in a space-charge wave on a strongly magnetized electron beam is investigated. The motions of the ion perpendicular and parallel to the beam direction are coupled by a nonlinear term in the ion Hamiltonian that is proportional to the wave amplitude, and this coupling causes the motion of the ion to deviate significantly from that of a linear harmonic oscillator in certain resonant regions of phase space. A sequence of canonical transformations is employed to investigate the motion of the ion in these regions. It is determined that wave amplitudes that are too small to trap beam electrons are too small to cause these resonances to overlap. When this overlap does not occur, the motion is found not to be discernibly ergodic in any three-dimensional subspace of the energy hypersurface because there exists a third constant of the motion in addition to the total energy and angular momentum. The numerically integrated ion trajectories are studied using surface-of-section techniques in order to verify these findings. It is found that the third constant of the motion constrains an ion initially trapped in a potential well of the wave to remain trapped in this well. It is concluded that ergodic behavior poses no threat at attempts at collective ion acceleration in space-charge waves on an electron beam.

Russell, D. A.↗
NASA NTRS2003

Impact of Climatic Variability on Atmospheric Mass Distribution and GRACE-Derived Gravity Fields

During the period we calculated the atmospheric data sets related to its mass and angular momentum distribution. For mass, we determined the various harmonics from the NCEP-NCAR reanalysis, especially the low-order harmonics that are useful in studying the gravitation distribution as will be determined from the GRACE mission. Atmospheric mass is also related to the atmospheric loading on the solid Earth; we cooperated with scientists who needed the atmospheric mass information for understanding its contributions to the overall loading, necessary for vertical and horizontal coordinate estimation. We calculated atmospheric angular momentum from the NCEP-NCAR reanalyses and 4 operational meteorological centers, based on the motion (wind) terms and the mass (surface pressure) terms. These are associated with motions of the planet, including its axial component causing changes in the length of day, more related to the winds, and the equatorial component related to motions of the pole, more related to the mass. Tasks related to the ocean mass and angular momentum were added to the project as well. For these we have noted the ocean impact on motions of the pole as well as the torque mechanisms that relate the transfer of angular momentum between oceans and solid earth. The activities of the project may be summarized in the following first manuscript written in December 2002, for a symposium that Dr. Salstein attended on Geodynamics. We have continued to assess ocean angular momentum (OAM) quantities derived from bottom pressure and velocity fields estimated with our finite-difference barotropic (single layer) model. Three years of output (1993-95) from a run without any data constraints was compared to output from a corresponding run that was constrained by altimeter data using a Kalman filter and smoother scheme. Respective OAM time series were combined with corresponding atmospheric series and compared to observed polar motion. The constrained OAM series provided slightly better variance reduction than the unconstrained series. Analysis provided a check on the estimation scheme and pointed to further work to improve the determination of OAM using this method. A significant effort was also devoted to quantifying effects of uncertainties in high frequency winds on the mean and seasonal momentum exchange between atmosphere and oceans.

Salstein, David A.↗
NASA NTRS1994

Superfluid helium sloshing dynamics induced oscillations and fluctuations of angular momentum, force and moment actuated on spacecraft driven by gravity gradient or jitter acceleration associated with slew motion

The generalized mathematical formulation of sloshing dynamics for partially filled liquid of cryogenic superfluid helium II in dewar containers driven by the gravity gradient and jitter accelerations associated with slew motion for the purpose to perform scientific observation during the normal spacecraft operation are investigated. An example is given with the Advanced X-Ray Astrophysics Facility-Spectroscopy (AXAF-S) for slew motion which is responsible for the sloshing dynamics. The jitter accelerations include slew motion, spinning motion, atmospheric drag on the spacecraft, spacecraft attitude motions arising from machinery vibrations, thruster firing, pointing control of spacecraft, crew motion, etc. Explicit mathematical expressions to cover these forces acting on the spacecraft fluid systems are derived. The numerical computation of sloshing dynamics is based on the non-inertia frame spacecraft bound coordinate, and solve time-dependent, three-dimensional formulations of partial differential equations subject to initial and boundary conditions. The explicit mathematical expressions of boundary conditions to cover capillary force effect on the liquid-vapor interface in microgravity environments are also derived. The formulations of fluid moment and angular moment fluctuations in fluid profiles induced by the sloshing dynamics, together with fluid stress and moment fluctuations exerted on the spacecraft dewar containers have also been derived. Examples are also given for cases applicable to the AXAF-S spacecraft sloshing dynamics associated with slew motion.

Hung, R. J.↗
NASA NTRS1979

Motion sickness susceptibility during rotation at 30 rpm in free-fall parabolic flight

To make comparisons with experimental motion sickness susceptibility in Skylab missions, subjects were tested during free fall in parabolic flight and in ground-based simulation tests. They were rotated at 30 rpm in a rotating litter chair (RLC) with head fixed, head swiveling left-to-right, or with 90 degree forward and return head and body movements. Stressful accelerations similar to those in the Skylab RLC were generated only in the tests aloft, where subjects who made 'forward and return' movements (generating cross-coupled angular accelerations) were substantially more prone to motion sickness than those with either head fixed or head swiveling left-to-right. However, with head swiveling, susceptibility was slightly higher in the laboratory than aloft.

Graybiel, A.↗
NASA NTRS1986

High accuracy earth rotation and atmospheric angular momentum

Recent advances in the measurement and interpretation of earth rotation and polar motion are discussed with attention focusing on short period fluctuations and their relationship to changes in the global atmospheric angular momentum (AAM). Data acquired during the MERIT campaign are used. Fluctuations in the earth's rotation over a time scale of a year or less are dominated by atmospheric effects; agreement is found between changes in length of day and AAM estimates.

Dickey, J. O.↗
NASA NTRS2019

Orbits Through Polytropes

We describe how orbital tunnels could be used to transport payloads through the Earth. If you use a brachistochrone for the tunnel, the body forces in the tunnel become overwhelmingly large for small angular distances traveled. Projectiles move along an orbital tunnel faster than they would along abrachistochrone connecting the same points but the body force components cancel. We describe how parabolic Keplerian orbits outside the object merge onto quasi-Keplerian orbits inside the object. We use models of the interior of the Earth with three values of the polytropic index (n) to calculate interior or bits that travel between surface points. The n¼3 results are also scaled to the Sun. Numerical integrations of the equations describing polytropes were used to generate the initial models. Numerical integration of the equations of motion are then used to calculate the angular distance you can travel along the surface and the traversal time as a function of the parabolic periaps is distance for each model. Trajectories through objects of low central condensation show a focusing effect that decreases as the central condensation increases. Analytic solutions for the trajectories in a homogeneous sphere are derived and compared to the numeric results. The results can be scaled to other planets, stars, or even globular clusters.

Gjerlov, Amalia↗
DOE OSTI2022

Microscopic-macroscopic level densities for low excitation energies

Level density ρ(E,Q) is derived within the micro-macroscopic approximation (MMA) for a system of strongly interacting Fermi particles with the energy E and additional integrals of motion Q , in line with several topics of the universal and fruitful activity of A. S. Davydov. Within the extended Thomas Fermi and semiclassical periodic orbit theory beyond the Fermi-gas saddle-point method, we obtain ρ ∝ I ν (S)/S ν , where I ν (S) is the modified Bessel function of the entropy S . For small shell-structure contribution, one finds ν = κ/2 + 1, where κ is the number of additional integrals of motion. This integer number is a dimension of Q, Q = { N, Z , …} for the case of two-component atomic nuclei, where N and Z are the numbers of neutrons and protons, respectively. For much larger shell structure contributions, one obtains ν = κ /2 + 2. The MMA level density ρ reaches the well-known Fermi gas asymptote for large excitation energies and the finite micro-canonical combinatoric limit for low excitation energies. Further, the additional integrals of motion can also be the projection of the angular momentum of a nuclear system for nuclear rotations of deformed nuclei, number of excitons for collective dynamics, and so on. Fitting the MMA total level density ρ( E , Q) for a set of the integrals of motion Q = { N, Z }, to experimental data on a long nuclear isotope chain for low excitation energies, one obtains the results for the inverse level-density parameter K , which differs significantly from those of neutron resonances due to shell, isotopic asymmetry, and pairing effects.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
NASA NTRS2012

Forced Oscillation Wind Tunnel Testing for FASER Flight Research Aircraft

As unmanned air vehicles (UAVs) continue to expand their flight envelopes into areas of high angular rate and high angle of attack, modeling the complex unsteady aerodynamics for simulation in these regimes has become more difficult using traditional methods. The goal of this experiment was to improve the current six degree-of-freedom aerodynamic model of a small UAV by replacing the analytically derived damping derivatives with experimentally derived values. The UAV is named the Free-flying Aircraft for Sub-scale Experimental Research, FASER, and was tested in the NASA Langley Research Center 12- Foot Low-Speed Tunnel. The forced oscillation wind tunnel test technique was used to measure damping in the roll and yaw axes. By imparting a variety of sinusoidal motions, the effects of non-dimensional angular rate and reduced frequency were examined over a large range of angle of attack and side-slip combinations. Tests were performed at angles of attack from -5 to 40 degrees, sideslip angles of -30 to 30 degrees, oscillation amplitudes from 5 to 30 degrees, and reduced frequencies from 0.010 to 0.133. Additionally, the effect of aileron or elevator deflection on the damping coefficients was examined. Comparisons are made of two different data reduction methods used to obtain the damping derivatives. The results show that the damping derivatives are mainly a function of angle of attack and have dependence on the non-dimensional rate and reduced frequency only in the stall/post-stall regime

Hoe, Garrison↗
NASA NTRS2004

Atmospheric Rotational Effects on Mars Based on the NASA Ames General Circulation Model: Angular Momentum Approach

The objective of the investigation is to determine the motion of the rotational axis of Mars as a result of mass variations in the atmosphere and condensation and sublimation of CO2 ice on the polar caps. A planet experiences this type of motion if it has an atmosphere, which is changing its mass distribution with respect to the solid body of the planet and/or it is asymmetrically changing the amount of ice at the polar caps. The physical principle involved is the conservation of angular momentum, one can get a feeling for it by sitting on a well oiled swivel chair holding a rotating wheel on a horizontal direction and then changing the rotation axis of the wheel to a vertical direction. The person holding the wheel and the chair would begin to rotate in opposite direction to the rotation of the wheel. The motions of Mars atmosphere and the ice caps variations are obtained from a mathematical model developed at the NASA Ames Research Center. The model produces outputs for a time span of one Martian year, which is equivalent to 687 Earth days. The results indicate that Mars axis of rotation moves in a spiral with respect to a reference point on the surface of the planet. It can move as far away as 35.3 cm from the initial location as a result of both mass variations in the atmosphere and asymmetric ice variations at the polar caps. Furthermore the pole performs close to two revolutions around the reference point during a Martian year. This motion is a combination of two motions, one produced by the atmospheric mass variations and another due to the variations in the ice caps. The motion due to the atmospheric variations is a spiral performing about two and a half revolutions around the reference point during which the pole can move as far as 40.9 cm. The motion due to variations in the ice caps is a spiral performing almost three revolutions during which the pole can move as far as 32.8 cm.

Sanchez, Braulio V.↗
DOE OSTI2023

Self-Powered Autonomous Sensing System for Arctic Ocean using a Frequency-multiplied Cylindrical Triboelectric Nanogenerator

An autonomous sensing system for collecting environmental observations in the Arctic region is critical for the estimation and prediction of climate change. Ocean waves are a great source of energy for these sensing systems but there has been limited research done on small-scale energy harvesting applications in the Arctic Ocean (subsea or surface). The available wave energy in the Arctic Ocean is lower than the typical ocean wave energy due to the low wave frequency, height, and operating months. Although the available wave energy depends on the specific location in the Arctic Ocean, the wave height decreases everywhere during the winter (Jan-March) [1]. Our target location in this work is the Beaufort and Chukchi Seas, which are ice covered for about 195 days per year leaving only a few months (June-November) for wave energy harvesting [2]. During these few months, the average wave frequency is 0.2 Hz and the most common wave frequency is around 0.15 Hz. Many energy harvesting methods are unsuitable for use in the Arctic Ocean because of to the cold temperature, low wave frequency, and low wave height. Triboelectric nanogenerators (TENG) are one of the few energy harvesting methods that excel in these conditions. Zhong et al. [3] designed a stacked pendulum-structured TENG for low-frequency ocean wave energy and reported the device generated a peak power density of 11.2 W/m3 under the low wave frequency of 0.2 Hz. The autonomous sensing system we developed for the Arctic Ocean, the Arctic-TENG, is based on a frequency-multiplied cylindrical TENG (FMC-TENG) which is an optimized TENG configuration for Arctic Ocean conditions due to the high power density under low-frequency wave conditions [4]. Figure 1 shows an FMC-TENG with multiple pairs of free-standing triboelectric-layer mode materials (Aluminum and FEP). The mass and magnet attached to the rotor store gravitational potential energy which is released as kinetic energy when the potential energy overcomes the repulsive magnetic force generated by the opposing magnet attached to the stator. This force unbalance triggers a sudden rotation and swinging motion of the mass which increases the angular velocity of the system and therefore enhances the output power of the TENG system. The main components of the Arctic-TENG are a 3D-printed rotor and stator, electric and dielectric material adhesive tape, and bearings. All these materials were cold-soaked and tested at -40 °C in a chest freezer. Both the 3D-printed parts and adhesives were confirmed to have a minimal effect from the cold temperature. Multiple bearings were tested and the starting torque of each one was compared both at room temperature and -40 °C. The bearing with the lowest starting torque at -40 °C was selected for use in the Arctic-TENG. The Arctic-TENG was tested using an out-of-water motor-driven wave simulator (Figure 2). The wave simulator allows for controlled testing at a wave height of 0.2 m and frequencies between 0.1 Hz to 0.5 Hz. This wave simulator was used for both room temperature and -40 °C testing. The Arctic-TENG generated significantly more power at -40 °C compared to room temperature for each frequency tested. The system stored energy in a supercapacitor via a power management circuit, and the amount of energy stored per day was calculated at different wave frequencies. Based on the conditions at the proposed deployment location (days of non-ice-covered ocean and wave frequency), the amount of stored energy per year from Arctic-TENG was calculated to be enough energy for two transmissions every day. Durability testing was completed on the Arctic-TENG at room temperature to determine the lifetime. The rotor of the Arctic-TENG was attached to a DC motor and spun continuously for several millions of cycles without degradation of the electrical output, demonstrating the feasibility for long-term operation.

Jung, Hyunjun↗