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The details of the Remote Manipulator System kinematic model implemented into the Space Vehicle Dynamics Simulation are given. Detailed engineering flow diagrams and definitions of terms are included.
An extended Kalman filter smoother and a fixed point smoother were used for estimation of the state variables in the six degree of freedom kinematic equations relating measured aircraft responses and for estimation of unknown constant bias and scale factor errors in measured data. The computing algorithm includes an analysis of residuals which can improve the filter performance and provide estimates of measurement noise characteristics for some aircraft output variables. The technique developed was demonstrated using simulated and real flight test data. Improved accuracy of measured data was obtained when the data were corrected for estimated bias errors.
The observed space velocities of O-B5 stars lying within about 1 kpc of the sun are analyzed. Motions examined include local solar motion, differential galactic rotation, mean peculiar stellar velocities, and systematic stellar motions parallel and perpendicular to the galactic plane. Kinematical determinations of the Oort constant and the K term for stars previously classified as members of the Gould and galactic belts are found to confirm earlier results that the Gould belt (or at least its youngest component) comprises a local perturbation in the general galactic velocity field. It is shown that if the Gould belt is expanding as a unit, its expansion age must be about 70 million years. The analyses also indicate negligibly small translational motion of the Gould belt relative to the galactic belt and parallel to the galactic plane as well as an approximate 'seesaw' motion of the Gould belt about the Cassiopeia-Carina line in the galactic plane. The age of the Gould belt is inferred to be either 20 or 60 million years from the vertical motions, which would imply the existence of either one or two waves of star formation as the Gould belt passed through the galactic belt either once or twice.
A detailed description of the observed kinematics of the coronal disturbance of December 19, 1973, is presented along with inferences about the temperatures, densities, magnetic fields, and electric currents within the event. This disturbance consisted of the eruption of a previously quiescent prominence, an associated ejection of coronal material, and the destruction of a large coronal streamer. Observations of the prominence and the corona with a scanning spectroheliometer and a white-light coronagraph aboard Skylab before, during, and after the prominence eruption are discussed, and the temperature and density in the eruptive prominence are traced as the prominence rose to a height of 3 solar radii over 7 hr. The results obtained are shown to reinforce previous arguments that the material comprising the bulk of the mass ejected from the corona in transient events arises from the low corona rather than from the eruptive prominence, which may accompany the coronal mass ejection.
The interactions between horizontal ambient flow and divergent wind fields, such as those that obtain atop cumulonimbus complexes, were investigated (theoretically) kinematically. The following were observed from the results of the analyses. First, for a particular divergent field, the relative mass flux over the area of the nephsystem decreased as the strength of the horizontal flow increased. Secondly, while in some of the cases analyzed the interaction between the two flows only resulted in the fanning out of streamlines and a slight redistribution in the wind speed, in many cases backflows and a total reorganization of the wind field occurred. Backflows have a blocking effect on the horizontal flow. Some of the computed patterns were compared with upper level cloud vectors (from geostationary satellite photographs). The comparison indicated that the computed resultant wind field could be used to explain some features of such satellite-derived wind fields.
A theory of kinematic stabilization of rolling cylinders is developed for high-speed cylindrical roller bearings. This stabilization requires race and roller crowning to product changes in the rolling geometry as the roller shifts axially. These changes put a reverse skew in the rolling elements by changing the rolling taper. Twelve basic possible bearing modifications are identified in this paper. Four have single transverse convex curvature in the rollers while eight have rollers with compound transverse curvature composed of a central cylindrical band of constant radius surrounded by symmetric bands with both slope and transverse curvature.
To date the computation of the total circulation, or strength of a vortex has required detailed measurements of the velocity field within the vortex. In this paper a method is described in which the kinematics of the vortical flow field is exploited to calculate the strength of a vortex from relatively simple flow visualization measurements. There are several advantages in the technique, the most important being the newly acquired ability to calculate the transient changes in strength of a single vortex as it evolves. The method is applied to the study of vortex rings, although the development can be carried over directly to study vortex pairs, and it is expected that it can be generalized to other flows which contain regions of concentrated vorticity. The accuracy of the method as applied to vortex rings, assessed in part by comparing with the laser Doppler velocimeter (LDV) measurements of Sullivan et al., is shown to be excellent.
A theory of kinematic stabilization of rolling cylinders is developed for high-speed cylindrical roller bearings. This stabilization requires race and roller crowning to produce changes in the rolling geometry as the roller shifts axially. These changes put a reverse skew in the rolling elements by changing the rolling taper. Twelve basic possible bearing modifications are identified in this paper. Four have single transverse convex curvature in the rollers while eight have rollers with compound transverse curvature composed of a central cylindrical band of constant radius surrounded by symmetric bands with both slope and transverse curvature.
An analytical approach to the study of flight dynamics of aircraft operating in a high-angle-of-attack flight regime and of helicopters operating in extreme thrust conditions is presented. Steady coordinated high-g turns are used to establish the initial equilibrium flight conditions near stall angles of attack. The kinematic properties of the aircraft in steady coordinated turns are examined: in high-g turns, pitch rate (independent of the angle of attack) is of a much larger magnitude than roll and yaw rate; a substantial roll rate is found to develop in steep turns for all angles of attack; the angle of attack also has a significant effect on the pitch attitude, with decreasing influence as the normal load factor increases. The exact small disturbance equations of motion of the aircraft in general steady turns are also developed for application to both rotary-wing and fixed-wing aircraft in extreme conditions. These equations are in a first-order, vector-matrix format, and are thus compatible with many efficient software packages developed in modern system theory.
Observations in H-alpha, soft X-ray, white light and radio wavelengths are used to track cool and hot material from limb de-occultation to the extent of six solar radii. The kinematics and thermodynamics of the internal material are determined, along with the overall mass and energy budget of the event. It is found that the majority of the mass and energy is linked with the coronal material, but at least 20% of the ejected mass originated as near-surface prominence material, leading to the conclusions that the upper part of the prominence was being heated to coronal temperatures as it rose through the corona. Evidence was found that a moving type IV burst, indicative of strong magnetic fields, was associated with the upper part of the prominence, and the observations are judged to be most consistent with magnetic propulsion models of coronal transients.
The use of conformal coordinates in relativistic kinematics is illustrated and a simple extension of the theory of motions faster than light is provided. An object traveling at a speed greater than light discloses its presence by appearing suddenly at a point, splitting into two apparent objects which then recede from each other at sublight velocities. According to the present theory motion at speeds faster than light would not benefit a space traveler, since the twin paradox becomes inverted at such speeds. In Einstein's theory travel at the velocity of light in an intertial system is equivalent to infinite velocity for the traveler. In the present theory the converse is also true; travel at infinite velocity is equivalent to the velocity of light for the traveler.
Some recently achieved results concerning the technological fundamentals of slurry sawing are presented. The specific material removal process and the related kinematic and geometric contact conditions between workpiece and saw blade are described. The result of a functional description of the slurry sawing process is presented, expressing the main process criteria, such as infeed per stroke, specific removal rate, specific tool wear, and vertical stroke intensity, in terms of the dominating process parameters, such as stroke length, width of workpiece, stroke frequency, specific cutting force and slurry specification.
Kinematically redundant manipulators have a number of potential advantages over current manipulator designs. For this type of arm, velocity control through pseudoinverses has been suggested. Questions associated with pseudoinverse control are examined in detail and show that in some cases this control leads to undesired arm configurations. A method for distributing joint angles of a redundant arm in a good approximation to a true minimax criterion is described. In addition several numerical considerations are discussed.
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.
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.
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.
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.
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.