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NASA NTRS1992

The kinematics of the molecular gas in Centaurus A

The CO (2-1) emission along the inner dust lane of Centaurus A, observed with the Caltech Submillimeter Observatory on Mauna Kea, shows the molecular gas to be in a thin disk, with a velocity dispersion of only about 10 km/s. The observed line profiles are broadened considerably due to beam smearing of the gas velocity field. The profile shapes are inconsistent with planar circular and noncircular motion. However, a warped disk in a prolate potential provides a good fit to the profile shapes. The morphology and kinematics of the molecular gas is similar to that of the ionized material, seen in H-alpha. The best-fitting warped disk model not only matches the optical appearance of the dust lane but also agrees with the large-scale map of the CO emission and is consistent with H I measurements at larger radii.

Quillen, A. C.↗

NASA NTRS1991

Kinematic analysis of generalized adaptive trusses

Adaptive trusses offer the greatest stiffness and strength for a given weight of any articulated structure or mechanism. Because of this, there are many potential extraterrestrial applications of these variable-geometry trusses, including serpentine manipulators, payload isolation, tracking, pointing and docking mechanisms, and gimbals. All of these applications will require the ability to precisely control the kinematic parameters of the mechanism, including position, velocity, and acceleration. This paper explores the fundamental nature of adaptive trusses by examining the basic truss elements or unit cells. A general method for analyzing forward and inverse motion of all the basic truss units is presented, followed by a more efficient formulation for the octahedral unit cell. Finally, general closed-form techniques are presented for finding velocity, acceleration, and all higher derivatives of truss motion.

Tidwell, Paul H.↗

NASA NTRS1990

A computationally efficient error-based adaptive control scheme for kinematically redundant manipulators

A Cartesian-space control scheme is developed to control the motion of kinematically redundant manipulators with 7 degrees of freedom (DOF). The control scheme consists mainly of proportional-derivative (PD) controllers whose gains are adjusted by an adaptation law driven by the errors between the desired and actual trajectories. The adaptation law is derived using the concept of model reference adaptive control (MRAC) and Liapunov direct method under the assumption that the manipulator performs noncompliant and slowly-varying motions. The developed control scheme is computationally efficient because its implementation does not require the computation of the manipulator dynamics. Computer simulation performed to evaluate the control scheme performance is presented and discussed.

Nguyen, Charles C.↗

NASA NTRS1993

Kinematics of the New Zealand plate boundary: Relative motion by GPS across networks of 1000 km and 50 km spacing

The NASA/DOSE 'Kinematics of the New Zealand Plate Boundary' experiment is a four-year cooperative Global Positioning System (GPS) experiment involving 6 universities and institutions in New Zealand and the United States. The investigation covers two scales, the first on the scale of plates (approximately 1000 km) and the second is on the scale of the plate boundary zone (approximately 50 km). In the first portion of the experiment, phase A, the objective is to make direct measurements of tectonic plate motion between the Australian and Pacific plates using GPS in order to determine the Euler vector of this plate pair. The phase A portion of this experiment was initiated in December 1992 with the first-epoch baseline measurements on the large scale network. The network will be resurveyed two years later to obtain velocities. The stations which were observed for phase A are shown and listed. Additional regional stations which will be used for this study are listed and are part of either CIGNET or other global tracking networks. The phase A portion of the experiment is primarily the responsibility of the UNAVCO investigators. Therefore, this report concentrates on phase A. The first year of NASA funding for phase A included only support for the field work. Processing and analysis will take place with the second year of funding. The second part of the experiemnt measured relative motion between the Australian and Pacific plates across the pate boundary zone between Hokitika and Christchurch on the South Island of New Zealand. The extent and rate of deformation will be determined by comparisons with historical, conventional surveys and by repeated GPS measurements to be made in two years. This activity was the emphasis of the LDGO portion of the study. An ancillary experiment, phase C, concentrated on plate boundary deformation in the vicinity of Wellington and was done as part of training during the early portion of the field campaign. Details of the objectives of the field investigations are given in the appendix. An overview of the 1992 GPS field program is also given in the appendix.

Meertens, Charles M.↗

NASA NTRS1993

Kinematics of compact groups and morphologies of the member galaxies

We present the results of a kinematical and morphological study of galaxies in the Hickson compact groups. The redshift survey of 457 galaxies has been completed. The great majority of the galaxies have velocities within about 1000 km/s(exp -1) of the median velocity of the group. The velocities of the groups range from 1380 to 41731 km/s(exp -1) with a median of 8889 km/s(exp -1), corresponding to a median distance of 89 h(exp -1)Mpc. With the addition of the radial velocity selection criterion, a relatively large sample of physically dense compact groups was defined. The nature of the velocity dispersion-morphology relation (Hickson, Kindl and Huchra 1989, hereafter HKH) is investigated. This is the tendency of groups with high velocity dispersions to contain fewer late type galaxies. We find that this strong correlation is not due to any sample selection effects. The morphology concordance in compact groups (HKH), which is the trend for galaxies in a group to have similar morphological types, can be fully explained by the velocity dispersion-morphology correlation. A significant correlation is found between crossing time and the fraction of gas-rich galaxies in the groups. Groups with short crossing times typically contain fewer late-type galaxies. This may be evidence that significant dynamical evolution has occurred in these groups.

Mendesdeoliveira, Claudia↗

NASA NTRS1992

The spatial and kinematic structure of QSO metal-line absorption systems

Recent attempts to infer the spatial and kinematic distributions of the material responsible for absorption lines observed in the spectra of background QSOs are presented. Current models of the absorbing regions are compared, and initial observational results are described. This research is expected to lead eventually to a detailed picture of the extended gaseous halo regions of galaxies at early evolutionary stages and to an understanding of the physical processes at work in these halos.

Lanzetta, Kenneth M.↗

NASA NTRS1991

Kinematic and precipitation structure of a small, long-lived mesoscale convective system

A comprehensive analysis using conventional single Doppler radar analyses, analysis of multiparameter (CP-2) data, network sounding and surface data, and GOES satellite data is presented to characterize the internal kinematic and precipitation structure of a small, long-lived mesoscale convective system. The data pertain to the Cooperative Huntsville Meteorological experiment conducted over northern Alabama and central Tennessee during June and July of 1986. The mesoscale convective system pulsations visible in the IR patterns were associated with the development of closely interacting aggregates of convective elements. The aggregates were about 20 km in diameter, attained echo tops of about 13 km, and were dominated by a single relatively intense convective element. The measured difference in radial velocity across the upper portion of these elements was about 20 m/s over a distance of about 10 km.

Knupp, Kevin R.↗

NASA NTRS1993

A kinematic analysis of the high-latitude thermospheric neutral circulation pattern

'Synthesized' thermospheric neutral wind fields for solar maximum, December solstice conditions for both quiet and active levels of geometric activity, are provided on the basis of averaged measurements from the Dynamics Explorer 2 (DE 2) satellite combined with theoretical model calculations. High-latitude DE 2 wind data obtained from multiorbit averages are merged with modeled winds from the NCAR thermosphere-ionosphere general circulation model. A 'kinematic analysis' is performed to decompose the merged semiempirical wind fields into their respective divergent and nondivergent components at high latitudes and to calculate the corresponding potential and stream functions. It is concluded that the nondivergent component of the high-latitude thermospheric neutral wind is representative of the convection-driven component of the neutral wind at F region altitudes. The nondivergent wind component comprises a large percentage of the total wind field for both quiet and active geomagnetic conditions.

Thayer, J. P.↗

NASA NTRS1993

Joint-space Lyapunov-based direct adaptive control of a kinematically redundant telerobot manipulator

This paper presents the design of a joint-space adaptive control scheme for controlling the slave arm motion of a dual-arm telerobot system developed at Goddard Space Flight Center (GSFC) to study telerobotic operations in space. Each slave arm of the dual-arm system is a kinematically redundant manipulator with seven degrees of freedom (DOF). Using the concept of model reference adaptive control (MRAC) and Liupunov direct method, we derive an adaptation algorithm that adjusts the PD controller gains of the control scheme. The development of the adaptive control scheme assumes that the slave arm motion is non-compliant and slowly varying. The implementation of the derived control scheme does not require the computation of manipulator dynamics which makes the control scheme sufficiently fast for real-time applications. Computer simulation study performed for the 7-DOF slave arm shows that the developed control scheme can efficiently adapt to sudden change in payload while tracking various test trajectories such as ramp or sinusoids with negligible position errors.

Nguyen, Charles C.↗

NASA NTRS1994

Efficient Kinematic Computations For 7-DOF Manipulators

Efficient algorithms for forward kinematic mappings of seven-degree-of-freedom (7-DOF) robotic manipulator having revolute joints developed on basis of representation of redundant DOF in terms of parameter called "arm angle." Continuing effort to exploit redundancy in manipulator according to concept of basic and additional tasks. Concept also discussed in "Configuration-Control Scheme Copes With Singularities" (NPO-18556) and "Increasing the Dexterity of Redundant Robots" (NPO-17801).

Seraji, Homayoun↗

NASA NTRS1993

Kinematics and constraints associated with swashplate blade pitch control

An important class of techniques to reduce helicopter vibration is based on using a Higher Harmonic controller to optimally define the Higher Harmonic blade pitch. These techniques typically require solution of a general optimization problem requiring the determination of a control vector which minimizes a performance index where functions of the control vector are subject to inequality constraints. Six possible constraint functions associated with swashplate blade pitch control were identified and defined. These functions constrain: (1) blade pitch Fourier Coefficients expressed in the Rotating System, (2) blade pitch Fourier Coefficients expressed in the Nonrotating System, (3) stroke of the individual actuators expressed in the Nonrotating System, (4) blade pitch expressed as a function of blade azimuth and actuator stroke, (5) time rate-of-change of the aforementioned parameters, and (6) required actuator power. The aforementioned constraints and the associated kinematics of swashplate blade pitch control by means of the strokes of the individual actuators are documented.

Leyland, Jane A.↗

NASA NTRS1991

Direct kinematics solution architectures for industrial robot manipulators: Bit-serial versus parallel

A Very Large Scale Integration (VLSI) architecture for robot direct kinematic computation suitable for industrial robot manipulators was investigated. The Denavit-Hartenberg transformations are reviewed to exploit a proper processing element, namely an augmented CORDIC. Specifically, two distinct implementations are elaborated on, such as the bit-serial and parallel. Performance of each scheme is analyzed with respect to the time to compute one location of the end-effector of a 6-links manipulator, and the number of transistors required.

Lee, J.↗

NASA NTRS1993

Evolution of large-scale plasma structures in comets: Kinematics and physics

Cometary and solar wind data from December 1985 through April 1986 are presented for the purpose of determining the solar wind conditions associated with comet plasma tail disconnection events (DE's). The cometary data are from The International Halley Watch Atlas of Large-Scale Phenomena (Brandt, Niedner, and Rahe, 1992). In addition, we present the kinematic analysis of 4 DE's, those of Dec. 13.5 and 31.2, 1985, and Feb. 21.7 and 28.7, 1986. The circumstances of these DE's clearly illustrate the need to analyze DE's in groups. In situ solar wind measurements from IMP-8, ICE, and PVO were used to construct the variation of solar wind speed, density, and dynamic pressure during this interval. Data from these same spacecraft plus Vega-1 were used to determine the time of 48 current sheet crossings. These data were fitted to heliospheric current sheet curves extrapolated from the corona into the heliosphere in order to determine the best-fit source surface radius for each Carrington rotation. Comparison of the solar wind conditions and 16 DE's in Halley's comet (the four DE's discussed in this paper and 12 DE's in the literature) leaves little doubt that DE's are associated primarily with crossings of the heliospheric current sheet and apparently not with any other property of the solar wind. If we assume that there is a single or primary physical mechanism and that Halley's DE's are representative, efforts at simulation should concentrate on conditions at current sheet crossings. The mechanisms consistent with this result are sunward magnetic reconnection and tailward magnetic reconnection, if tailward reconnection can be triggered by the sector boundary crossing.

Brandt, John C.↗

NASA NTRS1993

A global approach to kinematic path planning to robots with holonomic and nonholonomic constraints

Robots in applications may be subject to holonomic or nonholonomic constraints. Examples of holonomic constraints include a manipulator constrained through the contact with the environment, e.g., inserting a part, turning a crank, etc., and multiple manipulators constrained through a common payload. Examples of nonholonomic constraints include no-slip constraints on mobile robot wheels, local normal rotation constraints for soft finger and rolling contacts in grasping, and conservation of angular momentum of in-orbit space robots. The above examples all involve equality constraints; in applications, there are usually additional inequality constraints such as robot joint limits, self collision and environment collision avoidance constraints, steering angle constraints in mobile robots, etc. The problem of finding a kinematically feasible path that satisfies a given set of holonomic and nonholonomic constraints, of both equality and inequality types is addressed. The path planning problem is first posed as a finite time nonlinear control problem. This problem is subsequently transformed to a static root finding problem in an augmented space which can then be iteratively solved. The algorithm has shown promising results in planning feasible paths for redundant arms satisfying Cartesian path following and goal endpoint specifications, and mobile vehicles with multiple trailers. In contrast to local approaches, this algorithm is less prone to problems such as singularities and local minima.

Divelbiss, Adam↗

NASA NTRS1994

Study of the kinematic and dynamic characteristics of a wormgear transmission for helicopter applications

The first phase of the study of the performance of a wormgear transmission is reported. In this phase the work included the selection of a double-enveloping wormgear type, and its dimensions, suitable for use in helicopter transmissions; the 3-D graphics representation of the selected wormgear using the I-DEAS software; the analysis of the kinematics of meshing; the analysis of load sharing among the meshing teeth; and the implementation of the analyses in a computer program. The report describes the analyses, their results, and the use of the computer programs.

Sun, D. C.↗

NASA NTRS1994

A Fully Associative, Non-Linear Kinematic, Unified Viscoplastic Model for Titanium Based Matrices

Specific forms for both the Gibb's and complementary dissipation potentials are chosen such that a complete (i.e., fully associative) potential based multiaxial unified viscoplastic model is obtained. This model possesses one tensorial internal state variable that is associated with dislocation substructure, with an evolutionary law that has nonlinear kinematic hardening and both thermal and strain induced recovery mechanisms. A unique aspect of the present model is the inclusion of non-linear hardening through the use of a compliance operator, derived from the Gibb's potential, in the evolution law for the back stress. This non-linear tensorial operator is significant in that it allows both the flow and evolutionary laws to be fully associative (and therefore easily integrated) and greatly influences the multiaxial response under non-proportional loading paths. In addition to this nonlinear compliance operator, a new consistent, potential preserving, internal strain unloading criterion has been introduced to prevent abnormalities in the predicted stress-strain curves, which are present with nonlinear hardening formulations, during unloading and reversed loading of the external variables. Specification of an experimental program for the complete determination of the material functions and parameters for characterizing a metallic matrix, e.g., TIMETAL 21S, is given. The experiments utilized are tensile, creep, and step creep tests. Finally, a comparison of this model and a commonly used Bodner-Partom model is made on the basis of predictive accuracy and numerical efficiency.

Arnold, S. M.↗

NASA NTRS1994

Kinematic modeling of a double octahedral Variable Geometry Truss (VGT) as an extensible gimbal

This paper presents the complete forward and inverse kinematics solutions for control of the three degree-of-freedom (DOF) double octahedral variable geometry truss (VGT) module as an extensible gimbal. A VGT is a truss structure partially comprised of linearly actuated members. A VGT can be used as joints in a large, lightweight, high load-bearing manipulator for earth- and space-based remote operations, plus industrial applications. The results have been used to control the NASA VGT hardware as an extensible gimbal, demonstrating the capability of this device to be a joint in a VGT-based manipulator. This work is an integral part of a VGT-based manipulator design, simulation, and control tool.

Williams, Robert L., II↗

NASA NTRS1993

The kinematics of dense clusters of galaxies. I - The data

We have measured redshifts in the fields of the 31 R greater than 1 Abell clusters with z of 0.02-0.05 and absolute b exp II above 30 deg. At least ten of the fields are severely contaminated by superimposed velocity peaks. We derive the mean velocities and velocity dispersions of the 25 dense peaks in the sample. The abundance of peaks, 6.6 x 10 exp -6 h-cubed Mpc exp -3, is consistent with the mean number density of R above 1 Abell clusters. The range of velocity dispersions is 304-1346 km/s. The median dispersion is 718 km/s. The subset of eight systems with cD galaxies has a median velocity dispersion of 792 km/s, close to that of non-cD systems (626 km/s). When these data are combined with 16 cD cluster velocity dispersions from our previous study (Zabludoff et al., 1990, or ZHG) and Dunn (1991), eight of 25 cD galaxies have peculiar motions larger than half the cluster velocity dispersions. These findings further support the conclusions of Beers and Geller (1983), ZHG, and Dunn (1991), who argue that cD galaxies do not lie in the global kinematic center, but in local potential minima. If so, systems with speeding cD's are probably a guide to substructure in dynamically evolving systems.

Zabludoff, Ann I.↗