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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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At least 271 records · Page 15
All sourcesNASA NTRSDOE OSTI
NASA NTRS1967

Kinematic synthesis of plane curves.

Damped least squares method for kinematic synthesis of plane curves described by paired coordinates for four-bar linkage mechanism

COORDINATE SYSTEM↗
NASA NTRS2014

A Magnified View of the Kinematics and Morphology of RCSGA 032727-132609: Zooming in on a Merger at z = 1.7

We present a detailed analysis of multi-wavelength Hubble Space Telescope/Wide Field Camera 3 (WFC3) imaging and Keck/OSIRIS near-infrared adaptive optics-assisted integral field spectroscopy for a highly magnified lensed galaxy at z = 1.70. This young starburst is representative of ultraviolet-selected star-forming galaxies (SFGs) at z approx. 2 and contains multiple individual star-forming regions. Due to the lensing magnification, we can resolve spatial scales down to 100 pc in the source plane of the galaxy. The velocity field shows disturbed kinematics suggestive of an ongoing interaction and there is a clear signature of a tidal tail. We constrain the age, reddening, star formation rate, and stellar mass of the star-forming clumps from spectral energy distribution (SED) modeling of the WFC3 photometry and measure their H(alpha) luminosity, metallicity, and outflow properties from the OSIRIS data.With strong star-formation-driven outflows in four clumps, RCSGA0327 is the first high-redshift SFG at stellar mass <10(exp 10) Stellar Mass with spatially resolved stellar winds. We compare the H(alpha) luminosities, sizes, and dispersions of the star-forming regions with other high-z clumps as well as local giant H(II) regions and find no evidence for increased clump star formation surface densities in interacting systems, unlike in the local universe. Spatially resolved SED modeling unveils an established stellar population at the location of the largest clump and a second mass concentration near the edge of the system that is not detected in H(alpha) emission. This suggests a picture of an equal-mass mixed major merger, which has not triggered a new burst of star formation or caused a tidal tail in the gas-poor component.

Magnified↗
NASA NTRS1998

A Geodynamic Framework for Eastern Mediterranean Kinematics

We use a finite element model incorporating plate motion boundary conditions, fault constraints, and space geodetic velocities to calculate eastern Mediterranean plate kinematics and to estimate the motion of the region's major faults.

Plate↗
NASA NTRSDate not supplied

The Kinematic Navigation and Cartography Knapsack (KNaCK): Demonstrating SLAM (Simultaneous Localization and Mapping) LiDAR as a Tool for Exploration and Mapping of Lunar Pits and Caves.

Renewed interest in deep space exploration has made establishing a persistent human presence on the Moon and eventually Mars a priority. Sustained habitation of the Moon will require in-situ resource utilization (ISRU) and protection from radiation at the lunar surface. Lunar caves are of interest to the space community because they could provide shelter from radiation, access to water deposits, and a space for habitation, as well as hold information about the geology, volcanology, and evolution of the Moon. Developing the tools to explore, map, and characterize these voids is key to understanding the Moon as a planetary body and to establishing a permanent human presence there. Our team is currently developing tools that enable ultra-high resolution terrain mapping and navigation using mobile light detection and ranging (LIDAR) technology and simultaneous localization and mapping (SLAM) algorithms in fully GPS-denied and no-light environments. 3D mapping with LiDAR and SLAM is relatively under-used, particularly in the context of planetary exploration and planetary analog environments. The backpack mounted LiDAR instrument currently under development by the KNaCK (Kinematic Navigation and Cartography Knapsack) team has demonstrated the potential of mobile SLAM LiDAR for lunar, planetary, and terrestrial cave exploration, study, and utilization. A description of the instrument and associated SLAM algorithms used for mapping in GPS-denied environments are referenced here.

LiDAR↗
NASA NTRSDate not supplied

The Kinematic Navigation and Cartography Knapsack (KNaCK): Demonstrating SlLAM (Simultaneous Localization and Mapping) LiDAR as a Tool for Exploration and Mapping of Lunar Pits and Caves

KNaCK (Kinematic Navigation and Cartography Knapsack) is a backpack-mounted mobile LiDAR (Light Detection and Ranging) system. It can map its surroundings in 3 dimensions and localize itself in space. The project is exploring how LiDAR can advance terrain mapping and navigation at the lunar south pole. KNaCK is lead by Dr. Michael Zanetti of NASA MSFC’s Heliophysics and Planetary Science Branch. - KNaCK serves as - A test article for GPS denied mapping and navigation. - A test bed for SLAM (Simultaneous Localization and Mapping) algorithms. - A test bed for commercial LiDAR units. - A tool for terrestrial science.

LiDAR↗
NASA NTRSDate not supplied

Efficient and Singularity-Aware Inverse Kinematics for 6-DOF and 7-DOF Revolute Manipulators

Inverse kinematics (IK) for 6-DOF and 7-DOF revolute robot manipulators may be decomposed into canonical subproblems which find the angles on circles where they intersect with other geometric objects. We present new algebraic solutions and geometric interpretations for six subproblems. We demonstrate significant performance improvements over existing IK methods. 7-DOF manipulators have one redundant DOF to parameterize, so we introduce the general SEW angle, which generalizes the conventional SEW angle but with an arbitrary reference direction function. One special choice, the stereographic SEW angle, has a singularity when the wrist is on a half-line instead of a full line.

Computational Geometry↗
NASA NTRS2024

Redundancy Parameterization and Inverse Kinematics of 7-DOF Revolute Manipulators

Seven degree-of-freedom (DOF) robot arms have one redundant DOF for obstacle and singularity avoidance. This DOF does not change the end effector motion and must be parameterized to fully specify the joint angles for a given end effector pose. For 7-DOF revolute (7R) manipulators, we introduce the generalized shoulder-elbow-wrist (SEW) angle, a generalization of the widely-used conventional SEW angle but with an arbitrary reference direction function, along with Jacobian expressions and singularity analysis. Other redundancy parameterizations including the conventional SEW angle encounter an algorithmic singularity along a line in the workspace. We introduce a reference direction function choice called the stereographic SEW angle which has a singularity only along a half-line and can be placed out of reach. We prove such a singularity is unavoidable for any parameterization. Finally, using the general SEW angle and the subproblem decomposition method, we provide efficient singularity-robust inverse kinematics solutions for 7R manipulators which are often closed-form but may involve a 1D or (in general) 2D search. Search-based solutions may be converted to finding polynomial roots. Examples are available in a publicly accessible repository.

Kinematics↗
DOE OSTI2025

Towards Full ‘Galilei General Relativity’: Gravitational Kinematics in Bargmann Spacetimes

Because of the strict separation of mass and energy in Galilei physics, a Galilei-invariant tensor formalism is most at home in a 5-dimensional extended spacetime associated with the Bargmann-Galilei (traditionally ‘Bargmann’) group, a central extension of the Galilei group that explicitly exhibits the transformation properties of kinetic energy. While not necessary for a tensor formalism fully embodying Poincaré physics, a similar central extension of the Poincaré group to the Bargmann-Poincaré group may illuminate a path towards a strong-field ‘Galilei general relativity’. Here the Bargmann metric is generalized to curved spacetime by extending the usual 1+3 (traditionally ‘3+1’) formalism of general relativity on 4-dimensional spacetime to a 1+3+1 formalism, whose spacetime kinematics is shown to be consistent with that of the usual 1+3 formalism. On Bargmann spacetime, tensor laws governing the motion of an elementary classical material particle and the dynamics of a simple fluid reference the foliation of spacetime in a manner that partially reverts the Einstein perspective (accelerated fiducial observers, and geodesic material particles and fluid elements) to a Newton-like perspective (geodesic fiducial observers, and accelerated material particles and fluid elements subject to a gravitational force).

Cardall, Christian [ORNL] (ORCID:000000020086105X)↗
DOE OSTI2020

Singularity variables for missing energy event kinematics

We discuss singularity variables which are properly suited for analyzing the kinematics of events with missing transverse energy at the LHC. We consider six of the simplest event topologies encountered in studies of leptonic W-bosons and top quarks, as well as in SUSY-like searches for new physics with dark matter particles. In each case, we illustrate the general prescription for finding the relevant singularity variable, which in turn helps delineate the visible parameter subspace on which the singularities are located. Our results can be used in two different ways — first, as a guide for targeting the signal-rich regions of parameter space during the stage of discovery, and second, as a sensitive focus point method for measuring the particle mass spectrum after the initial discovery.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
DOE OSTI2022

New tool for kinematic regime estimation in semi-inclusive deep-inelastic scattering

We introduce a new phenomenological tool based on momentum region indicators to guide the analysis and interpretation of semi-inclusive deep-inelastic scattering measurements. The new tool, referred to as “affinity”, is devised to help visualize and quantify the proximity of any experimental kinematic bin to a particular hadron production region, such as that associated with transverse momentum dependent factorization. We apply the affinity estimator to existing HERMES and COMPASS data and expected data from Jefferson Lab and the future Electron-Ion Collider. We also provide an interactive notebook based on Machine Learning for fast evaluation of affinity.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2022

On the differential representation and color-kinematics duality of AdS boundary correlators

The AdS boundary correlators and their dual correlation functions of boundary operators have been the main dynamic observables of the holographic duality relating a bulk AdS theory and a boundary conformal field theory. We show that tree-level AdS boundary correlators for generic states can be expressed as nonlocal differential operators of a certain structure acting on contact Witten diagrams. We further write the boundary correlators in a form that is very similar to flat space amplitudes, with Mandelstam variables replaced by certain combinations of single-state conformal generators, prove that all tree-level AdS boundary correlators have a differential representation, and detail the conversion of such differential expressions to position space. We illustrate the construction through the computation of the boundary correlators of scalars coupled to gluons and gravitons; when converted to position space, they reproduce known results. Color-kinematics duality and BCJ relations can be defined in analogy with their flat space counterparts, and are respected by the scalar correlators with a gluon exchange. We also discuss potential approaches to the double copy and find that its direct generalization may require nontrivial extensions.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
DOE OSTI2026

Measurement of the dineutrino system kinematic variables in dileptonic top quark pair production in proton-proton collisions at $\sqrt{s}=13$ TeV

Differential top quark pair production cross sections are measured in the dilepton final states e + e − , μ + μ − , and e ± μ ∓ , as a function of kinematic variables of the two-neutrino system: the transverse momentum $p^{vv}_{\textrm{T}}$ of the dineutrino system, the minimum distance in azimuthal angle between $\vec{p}^{vv}_{\textrm{T}}$ and leptons, and in two dimensions in bins of both observables. The measurements are performed using CERN LHC proton-proton collisions at $\sqrt{s}=13$ TeV, recorded by the CMS detector between 2016 and 2018, corresponding to an integrated luminosity of 138 fb −1 . The measured cross sections are unfolded to the particle level using an unregularized least squares method. Results are compared with predictions by the standard model of particle physics, and found to be in agreement with theoretical calculations as well as Monte Carlo simulations.

Hadron-Hadron Scattering↗
DOE OSTI2022

Gluon-mediated inclusive Deep Inelastic Scattering from Regge to Bjorken kinematics

We revisit high energy factorization for gluon mediated inclusive Deep Inelastic Scattering (DIS) for which we propose a new semi-classical approach that accounts systematically for the longitudinal extent of the target in contrast with the shockwave limit. In this framework, based on a partial twist expansion, we derive a factorization formula that involves a new gauge invariant unintegrated gluon distribution which depends explicitly on the Feynman x variable. It is shown that both the Regge and Bjorken limits are recovered in this approach. We reproduce in particular the full one loop inclusive DIS cross-section in the leading twist approximation and the all-twist dipole factorization formula in the strict x = 0 limit. Although quantum evolution is not discussed explicitly in this work, we argue that the proper treatment of the x dependence of the gluon distribution encompasses the kinematic constraint that must be imposed on the phase-space of gluon fluctuations in the target to ensure stability of small-x evolution.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗