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At least 37 records · Page 2
All sourcesNASA NTRSDOE OSTI
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 NTRS1974

Fluid dynamics and kinematics of molten metals in the low-gravity environment of Skylab

The response of molten metals to mechanical and thermal driving forces in nominal and microgravity is analyzed both theoretically and experimentally. The magnitude and transient behavior of internal fluid circulations, surface deformations, and globule trajectories and their effects on solidification in the Skylab electron beam sphere forming and metals melting experiments are determined. The theoretical approach consists of dimensional analysis of the governing differential equations. Experimental aspects include evaluation of specimens from terrestrial, KC-135 research aircraft, and actual Skylab tests and analysis of high speed movies taken during the melting processes. Several gravity variations and gravity independent results were successfully predicted based on expected differences and similarities in fluid dynamics.

Bourgeois, S. V.↗
NASA NTRS1995

Kinematics and dynamics of the MKW/AWM poor clusters

We report 472 new redshifts for 416 galaxies in the regions of the 23 poor clusters of galaxies originally identified by Morgan, Kayser, and White (MKW), and Albert, White, and Morgan (AWM). Eighteen of the poor clusters now have 10 or more available redshifts within 1.5/h Mpc of the central galaxy; 11 clusters have at least 20 available redshifts. Based on the 21 clusters for which we have sufficient velocity information, the median velocity scale is 336 km/s, a factor of 2 smaller than found for rich clusters. Several of the poor clusters exhibit complex velocity distributions due to the presence of nearby clumps of galaxies. We check on the velocity of the dominant galaxy in each poor cluster relative to the remaining cluster members. Significantly high relative velocities of the dominant galaxy are found in only 4 of 21 poor clusters, 3 of which we suspect are due to contamination of the parent velocity distribution. Several statistical tests indicate that the D/cD galaxies are at the kinematic centers of the parent poor cluster velocity distributions. Mass-to-light ratios for 13 of the 15 poor clusters for which we have the required data are in the range 50 less than or = M/L(sub B(0)) less than or = 200 solar mass/solar luminosity. The complex nature of the regions surrounding many of the poor clusters suggests that these groupings may represent an early epoch of cluster formation. For example, the poor clusters MKW7 and MKWS are shown to be gravitationally bound and likely to merge to form a richer cluster within the next several Gyrs. Eight of the nine other poor clusters for which simple two-body dynamical models can be carried out are consistent with being bound to other clumps in their vicinity. Additional complex systems with more than two gravitationally bound clumps are observed among the poor clusters.

Beers, Timothy C.↗
NASA NTRS1987

A virtual manipulator model for space robotic systems

Future robotic manipulators carried by a spacecraft will be required to perform complex tasks in space, like repairing satellites. Such applications of robotic manipulators will encounter a number of kinematic, dynamic and control problems due to the dynamic coupling between the manipulators and the spacecraft. A new analytical modeling method for studying the kinematics and dynamics of manipulators in space is presented. The problem is treated by introducing the concept of a Virtual Manipulator (VM). The kinematic and dynamic motions of the manipulator, vehicle and payload, can be described relatively easily in terms of the Virtual Manipulator movements, which have a fixed base in inertial space at a point called a Virtual Ground. It is anticipated that the approach described here will aid in the design and development of future space manipulator systems.

Dubowsky, S.↗
NASA NTRS1987

Systems simulations supporting NASA telerobotics

Two simulation and analysis environments have been developed to support telerobotics research at the Langley Research Center. One is a high-fidelity, nonreal-time, interactive model called ROBSIM, which combines user-generated models of workspace environment, robots, and loads into a working system and simulates the interaction among the system components. Models include user-specified actuator, sensor, and control parameters, as well as kinematic and dynamic characteristics. Kinematic, dynamic, and response analyses can be selected, with system configuration, task trajectories, and arm states displayed using computer graphics. The second environment is a real-time, manned Telerobotic Systems Simulation (TRSS) which uses the facilities of the Intelligent Systems Research Laboratory (ISRL). It utilizes a hierarchical structure of functionally distributed computers communicating over both parallel and high-speed serial data paths to enable studies of advanced telerobotic systems. Multiple processes perform motion planning, operator communications, forward and inverse kinematics, control/sensor fusion, and I/O processing while communicating via common memory. This paper describes both ROBSIM and TRSS, including their capability, status, and future plans. Also described is the architecture of ISRL and recent telerobotic system studies in ISRL.

Harrison, F. Wallace, Jr.↗
NASA NTRS1987

Systems simulations supporting NASA telerobotics

Two simulation and analysis environments have been developed to support telerobotics research at the Langley Research Center. One is a high-fidelity, nonreal-time, interactive model called ROBSIM, which combines user-generated models of workspace environment, robots, and loads into a working system and simulates the interaction among the system components. Models include user-specified actuator, sensor, and control parameters, as well as kinematic and dynamic characteristics. Kinematic, dynamic, and response analyses can be selected, with system configuration, task trajectories, and arm states displayed using computer graphics. The second environment is a real-time, manned Telerobotic Systems Simulation (TRSS) which uses the facilities of the Intelligent Systems Research Laboratory (ISRL). It utilizes a hierarchical structure of functionally distributed computers communicating over both parallel and high-speed serial data paths to enable studies of advanced telerobotic systems. Multiple processes perform motion planning, operator communications, forward and inverse kinematics, control/sensor fusion, and I/O processing while communicating via common memory. Both ROBSIM and TRSS, including their capability, status, and future plans are discussed. Also described is the architecture of ISRL and recent telerobotic system studies in ISRL.

Harrison, F. W., Jr.↗
NASA NTRS1985

Covariances and spectra of the kinematics and dynamics of nonlinear waves

Using the Stokes waves as a model of nonlinear waves and considering the linear component as a narrow-band Gaussian process, the covariances and spectra of velocity and acceleration components and pressure for points in the vicinity of still water level were derived taking into consideration the effects of free surface fluctuations. The results are compared with those obtained earlier using linear Gaussian waves.

Tung, C. C.↗
NASA NTRS1987

Use of simulated satellite radiances from a mesoscale numerical model to understand kinematic and dynamic processes

Techniques by which mesoscale numerical weather prediction model output and radiative transfer codes are combined to simulate the radiance fields that a given passive temperature/moisture satellite sensor would see if viewing the evolving model atmosphere are introduced. The goals are to diagnose the dynamical atmospheric processes responsible for recurring patterns in observed satellite radiance fields, and to develop techniques to anticipate the ability of satellite sensor systems to depict atmospheric structures and provide information useful for numerical weather prediction (NWP). The concept of linking radiative transfer and dynamical NWP codes is demonstrated with time sequences of simulated radiance imagery in the 24 TIROS vertical sounder channels derived from model integrations for March 6, 1982.

Kalb, Michael↗
NASA NTRS1988

Three legged walking mobile platform: Kinematic and dynamic analysis and simulation

The three legged walker is proposed as a mobile work platform for numerous tasks associated with lunar base site preparation and construction. It is seen as one of several forms of surface transportation, each of which will be best suited for its respective tasks. Utilizing the principle of dynamic stability and taking advantage of the Moon's gravity, it appears to be capable of walking in any radial direction and rotating about a point. Typical curved path walking could involve some combination of the radial and rotational movements. Comprised mainly of a body, six actuators, and six moving parts, it is mechanically quite simple. Each leg connects to the body at a hip joint and has a femur, a knee joint, and a tibia that terminates at a foot. Also capable of enabling or enhancing the dexterity of a series of implements, the walker concept provides a mechanically simple and weight efficient means of drilling, digging, mining, and transporting cargo, and performing other like tasks. A proof of principle machine demonstrated the feasibility of the walking concept.

Mcmurray, Gary V.↗
NASA NTRS1993

Solar Nebula Magnetohydrodynamic Dynamos: Kinematic Theory, Dynamical Constraints, and Magnetic Transport of Angular Momentum

A hydromagnetic dynamo provides the best mechanism for contemporaneously producing magnetic fields in a turbulent solar nebula. We investigate the solar nebula in the framework of a steady-state accretion disk model and establish the criteria for a viable nebular dynamo. We have found that typically a magnetic gap exists in the nebula, the region where the degree of ionization is too small for the magnetic field to couple to the gas. The location and width of this gap depend on the particular model; the supposition is that gaps cover different parts of the nebula at different evolutionary stages. We have found, from several dynamical constraints, that the generated magnetic field is likely to saturate at a strength equal to equipartition with the kinetic energy of turbulence. Maxwell stress arising from a large-scale magnetic field may significantly influence nebular structure, and Maxwell stress due to small-scale fields can actually dominate other stresses in the inner parts of the nebula. We also argue that the bulk of nebular gas, within the scale height from the midplane, is stable against Balbus-Hawley instability.

Stepinski, Tomasz F.↗
NASA NTRS1990

Convective dynamics

In addressing meteorological processes, including convection, it is convenient to separate these processes into their kinematic, dynamic, and microphysical components. Dynamic processes deal with the forces that initiate and sustain or alter motion, while kinematic processes describe the motion field. Microphysical processes address the distribution of water substance. This review of convective dynamics is organized along the following lines. First is an assessment of radar capability, particularly the use of one or more Doppler radars, to portray the wind field. Then various types of precipitating moist convection are reviewed. Each type or mode of convection results from a distinct environment. The principal interest of dynamics here is its role in the convection's evolution, structure, and movement. Thus, the important processes of storm rotation, splitting and propagation, including tornadogenesis, are examined.

Ray, Peter S.↗
NASA NTRS1982

Mechanics of couple-stress fluid coatings

The formal development of a theory of viscoelastic surface fluids with bending resistance - their kinematics, dynamics, and rheology are discussed. It is relevant to the mechanics of fluid drops and jets coated by a thin layer of immiscible fluid with rather general rheology. This approach unifies the hydrodynamics of two-dimensional fluids with the mechanics of an elastic shell in the spirit of a Cosserat continuum. There are three distinct facets to the formulation of surface continuum mechanics. Outlined are the important ideas and results associated with each: the kinematics of evolving surface geometries, the conservation laws governing the mechanics of surface continua, and the rheological equations of state governing the surface stress and moment tensors.

Waxman, A. M.↗
NASA NTRS1988

Development of automation and robotics for space via computer graphic simulation methods

A robot simulation system, has been developed to perform automation and robotics system design studies. The system uses a procedure-oriented solid modeling language to produce a model of the robotic mechanism. The simulator generates the kinematics, inverse kinematics, dynamics, control, and real-time graphic simulations needed to evaluate the performance of the model. Simulation examples are presented, including simulation of the Space Station and the design of telerobotics for the Orbital Maneuvering Vehicle.

Fernandez, Ken↗
NASA NTRS1989

Software systems for modeling articulated figures

Research in computer animation and simulation of human task performance requires sophisticated geometric modeling and user interface tools. The software for a research environment should present the programmer with a powerful but flexible substrate of facilities for displaying and manipulating geometric objects, yet insure that future tools have a consistent and friendly user interface. Jack is a system which provides a flexible and extensible programmer and user interface for displaying and manipulating complex geometric figures, particularly human figures in a 3D working environment. It is a basic software framework for high-performance Silicon Graphics IRIS workstations for modeling and manipulating geometric objects in a general but powerful way. It provides a consistent and user-friendly interface across various applications in computer animation and simulation of human task performance. Currently, Jack provides input and control for applications including lighting specification and image rendering, anthropometric modeling, figure positioning, inverse kinematics, dynamic simulation, and keyframe animation.

Phillips, Cary B.↗
NASA NTRS1989

Characterization of robotics parallel algorithms and mapping onto a reconfigurable SIMD machine

The kinematics, dynamics, Jacobian, and their corresponding inverse computations are six essential problems in the control of robot manipulators. Efficient parallel algorithms for these computations are discussed and analyzed. Their characteristics are identified and a scheme on the mapping of these algorithms to a reconfigurable parallel architecture is presented. Based on the characteristics including type of parallelism, degree of parallelism, uniformity of the operations, fundamental operations, data dependencies, and communication requirement, it is shown that most of the algorithms for robotic computations possess highly regular properties and some common structures, especially the linear recursive structure. Moreover, they are well-suited to be implemented on a single-instruction-stream multiple-data-stream (SIMD) computer with reconfigurable interconnection network. The model of a reconfigurable dual network SIMD machine with internal direct feedback is introduced. A systematic procedure internal direct feedback is introduced. A systematic procedure to map these computations to the proposed machine is presented. A new scheduling problem for SIMD machines is investigated and a heuristic algorithm, called neighborhood scheduling, that reorders the processing sequence of subtasks to reduce the communication time is described. Mapping results of a benchmark algorithm are illustrated and discussed.

Lee, C. S. G.↗
NASA NTRS1989

Control strategy for cooperating disparate manipulators

To manipulate large payloads typical of space construction, the concept of a small arm mounted on the end of a large arm is introduced. The main purposes of such a configuration are to increase the structural stiffness of the robot by bracing against or locking to a stationary frame, and to maintain a firm position constraint between the robot's base and workpieces by grasping them. Possible topologies for a combination of disparate large and small arms are discussed, and kinematics, dynamics, controls, and coordination of the two arms, especially when they brace at the tip of the small arm, are developed. The feasibility and improvement in performance are verified, not only with analytical work and simulation results but also with experiments on the existing arrangement Robotic Arm Large and Flexible and Small Articulated Manipulator.

Lew, Jae Young↗
NASA NTRS1989

Design of a monitor and simulation terminal (master) for space station telerobotics and telescience

Based on Space Station and planetary spacecraft communication time delays and bandwidth limitations, it will be necessary to develop an intelligent, general purpose ground monitor terminal capable of sophisticated data display and control of on-orbit facilities and remote spacecraft. The basic elements that make up a Monitor and Simulation Terminal (MASTER) include computer overlay video, data compression, forward simulation, mission resource optimization and high level robotic control. Hardware and software elements of a MASTER are being assembled for testbed use. Applications of Neural Networks (NNs) to some key functions of a MASTER are also discussed. These functions are overlay graphics adjustment, object correlation and kinematic-dynamic characterization of the manipulator.

Lopez, L.↗