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At least 379 records · Page 21

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Dynamics of A Vibration Isolation System Including Inertia of the Human Body

Using an exercise device in a spacecraft is liable to transmit an unacceptable amount of vibration to that vehicle. This is commonly mitigated by a Vibration Isolation System (VIS), whose dynamics must be analyzed to confirm that the oscillatory forces on the spacecraft remain within allowed range, both from a structural and microgravity perspective (see, e.g., [1]). When modeling a VIS for countermeasures devices, one common approach is to record forces and moments applied on the floor while exercising, and then drive the VIS simulation by applying these recorded loads to the exercise platform part of the VIS mechanical model. This approach misses the fact that when exercising on a moving platform, the force and moment on it will differ from that on the stationary floor due to inertial effects involving the human body. For example, standing up on a platform as it gives under the subject’s feet reduces the foot force on it, and such inertial effects are especially complex for rotational motion. In principle, one could model both the motion of the human body and dynamics of the VIS mechanism in a single combined simulation, e.g., employing a tool such as the commonly used biomechanical simulation OpenSim. Here, the joints of the human body would be driven kinematically along prescribed exercise trajectories while the dynamics engine computed the response of the VIS degrees of freedom. However, mechanism designers and biomechanics experts have their own established tools, making it very desirable to have a way of decoupling the biomechanics from the VIS modeling, simulation, and analyses. We have derived a set of equations that rigorously accomplishes this goal, and have implemented them as an interface function that provides an alternative driving mechanism for an existing force-based VIS analysis simulation. When enabled, the simulated human/VIS system dynamics is now driven by this function, instead of the recorded force methodology described above. The function is designed to accept input from a data file containing the required time-stamped human motion and inertia terms corresponding to the specific exercise in question. This data file is generated by an OpenSim plugin written for that purpose. The existing VIS analytical simulation is developed using NASA’s Trick Simulation Environment [2], as well as its MBDyn multibody dynamics [3] package. The presentation will provide a detailed overview of the mathematical formulation, assumptions, plugin implementation, software interfaces, and results for a sample set of representative exercises. The results from this work aim to better inform VIS design efforts, as well as countermeasure device/protocol designs with respect to exercise type and frequency effects on vehicle structural and microgravity restrictions.

Countermeasures↗

DOE OSTI2020

Autonomous Navigation and Control of UGVs' in Nuclear Power Plants - 20381

The purpose of the husky A200 ground robot is to autonomously navigate through the places where it is very hazardous for human beings to reach and operate, like nuclear power plants, chemical industries. The aim is to navigate the ground robot autonomously with an Arm mounted on the robot along with the different sensors as camera, and Lidar. The autonomous motion of the robot is controlled by the controller which uses path planner for trajectory generation of the robot. The mission planner uses the current position of the husky A200, given the way points of the initial and the destination it would extract a best possible route based on the current events provided using GMapping. The global reference frame is used for planning the way points. Creating the appropriate path and the actions required to follow the path are given by the motion planner. The motion planner depends on the active sensor data such as obstacles, lanes, based on the sensor data feasible path is generated. Feasibility of the path is determined by the dynamics of the husky and a series of points generated with certain velocity and acceleration profile. The controller adjusts the lateral, longitudinal and yaw motion of the husky to command the behaviors. The kinematic model is developed for kinematic motion of the husky and the dynamic model is developed for transient and steady state characteristics. The images and other type of data captured by the camera are processed through the computational framework used to build machine learning models. TensorFlow will be used for deep learning and to identify and classify different objects around the husky. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

DOE OSTI2025

A Unified Perspective on Poincaré and Galilei Relativity: II. General Relativity: A. Kinematics

Building on the first paper in this series (Paper I), a unified perspective on Poincaré and Galilei physics in a 5-dimensional spacetime setting is further pursued through a consideration of the kinematics of general relativity, with the gravitational dynamics to be addressed separately. The metric of the 5-dimensional affine spacetimes governed by the Bargmann groups considered in Paper I (central extensions of the Poincaré and Galilei groups) 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. Spacetime tensor laws governing the motion of an elementary classical material particle and the dynamics of a simple fluid are presented, along with their 1 + 3 + 1 decompositions; these 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). These spacetime laws of motion for particles and fluids also suggest that a strong-field Galilei general relativity would involve a limit in which not only 𝑐 → ∞ but also 𝐺 → ∞ , such that 𝐺/𝑐 2 remains constant.

Bargmann group↗

DOE OSTI2022

Turning points in the age–metallicity relations – created by late satellite infall and enhanced by radial migration

ABSTRACT The present-day age–metallicity relation (AMR) is a record of the star formation history of galaxies, as this traces the chemical enrichment of the gas over time. We use a zoomed-in cosmological simulation that reproduces key signatures of the Milky Way (MW), g2.79e12 from the NIHAO-UHD project, to examine how stellar migration and satellite infall shape the AMR across the disc. We find in the simulation, similar to the MW, the AMR in small spatial regions (R, z) shows turning points that connect changes in the direction of the relations. The turning points in the AMR in the simulation are a signature of late satellite infall. This satellite infall has a mass radio similar as that of the Sagittarius dwarf to the MW (∼0.001). Stars in the apex of the turning points are young and have nearly not migrated. The late satellite infall creates the turning points via depositing metal-poor gas in the disc, triggering star formation of stars in a narrow metallicity range compared to the overall AMR. The main effect of radial migration on the AMR turning points is to widen the metallicity range of the apex. This can happen when radial migration brings stars born from the infallen gas in other spatial bins, with slightly different metallicities, into the spatial bin of interest. These results indicate that it is possible that the passage of the Sagittarius dwarf galaxy played a role in creating the turning points that we see in the AMR in the Milky Way.

79 ASTRONOMY AND ASTROPHYSICS↗

DOE OSTI2025

Nearby stellar substructures in the Galactic halo from DESI Milky Way Survey Year 1 Data Release

We report five nearby ($d_{\mathrm{helio}} < 5$ kpc) stellar substructures in the Galactic halo from a subset of 138 661 stars in the Dark Energy Spectroscopic Instrument (DESI) Milky Way Survey Year 1 Data Release. With an unsupervised clustering algorithm, HDBSCAN*, these substructures are independently identified in Integrals of Motion ($E_{\rm tot}$, $L_{\rm z}$, $\log {J_r}$, $\log {J_z}$) space and Galactocentric cylindrical velocity space ($V_{R}$, $V_{\phi }$, $V_{z}$). We associate all identified clusters with known nearby substructures (Helmi streams, M18-Cand10/MMH-1, Sequoia, Antaeus, and ED-2) previously reported in various studies. With metallicities precisely measured by DESI, we confirm that the Helmi streams, M18-Cand10, and ED-2 are chemically distinct from local halo stars. We have characterized the chemodynamic properties of each dynamic group, including their metallicity dispersions, to associate them with their progenitor types (globular cluster or dwarf galaxy). Our approach for searching substructures with HDBSCAN* reliably detects real substructures in the Galactic halo, suggesting that applying the same method can lead to the discovery of new substructures in future DESI data. With more stars from future DESI data releases and improved astrometry from the upcoming Gaia Data Release 4, we will have a more detailed blueprint of the Galactic halo, offering a significant improvement in our understanding of the formation and evolutionary history of the Milky Way Galaxy.

dynamics↗

DOE OSTI2026

Semi-inclusive deep-inelastic scattering on a polarized spin-1 target. I. Cross section and spin observables

We develop the theoretical framework for semi-inclusive deep-inelastic scattering on a polarized spin-1 target and apply it to scattering on the polarized deuteron with spectator nucleon tagging. In Part I (this article) we present the general form of the semi-inclusive cross section and polarization observables for the spin-1 target. A relativistically covariant formulation in terms of four-vectors and invariant polarization parameters is employed. The target polarization is described by a spin density matrix with vector and tensor polarization. The spin and azimuthal angle dependence of the semi-inclusive cross section is derived and parametrized in terms of invariant structure functions. To validate the result, the structure functions are expressed as photon-target helicity amplitudes with known symmetry properties. The expressions presented here are kinematic (no assumptions about particle production dynamics) and valid in all regions of the deep-inelastic final state (current and target fragmentation regions). In Part II (following article), we consider deep-inelastic scattering on the polarized deuteron with spectator nucleon tagging as a special case of target fragmentation. The semi-inclusive structure functions are computed by separating nuclear and hadronic structure, and the polarization observables are explored as functions of the tagged nucleon momentum.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗

DOE OSTI2023

TMD program at JLab

Measurements of multiplicities and asymmetries of multiparticle final states in wide kinematics, including dihadrons and vector mesons, will be crucial for a separation of different structure functions, and different contributions to specific structure functions, used in phenomenological studies of Semi-Inclusive DIS (SIDIS). Measurements of various beam Single Spin Asymmetries are discussed as a possible tool to separate different kinematical regions as well as different dynamical contributions. Precision measurements in JLab, including detailed studies of the $Q^2$ dependences of observables, would also allow testing the impact of several theoretical assumptions used in phenomenological studies of generalized PDFs (GPDs, TMDs) , also providing a mechanism for validation of the extraction frameworks, which is critical for the proper evaluation of systematic uncertainties.

Avagyan, Harutyun↗

DOE OSTI2024

Atomistic Simulations for Thermophysical Properties of Uranium-Containing Halide Molten Salts

Characterizing the thermophysical properties in both fuel and coolant salts are critical in modeling, developing, process optimizing and utilizing molten salt reactors (MSRs), as these properties directly relate to operation metrics and can inform on the selection of candidate salts. The demand for consistent, accurate and publicly available thermophysical property data has become more apparent in recent years as interests have increased from molten salt reactor developers. There are a number of challenges in experimentally measuring properties such as thermal conductivity, viscosity, density and heat capacity , which have led to sparse and often times conflicting data points or molten salts in general. Additionally, there are a number of hazards to consider when synthesizing, storing, using, treating and disposing of molten salts. With the advances in computational capabilities over the last 10 years, the use of atomistic simulations can be implemented to support these efforts. The primary objective of this work is characterize the thermophysical transport properties in a number of molten chloride salts, and in particular NaCl-UCl 3 using ab-initio molecular dynamic (AIMD) simulations. In this binary salt the UCl 3 acts as the primary fissile material and NaCl acts as a carrier salt due with its’ high solubility for actinides A number of studies on the thermophysical properties of NaCl-UCl 3 have been published but there is not a vast amount of viscosity data for this system. In 1975, Desyatnik, et al published a study reporting dynamic viscosities that were calculated from kinematic viscosity measurements, and using the coefficients provided the viscosity in a 70:30 NaCl:UCl 3 mixture is 2.29 cP and 2.88 for a 60:40 mixture. Termini et al. recently reported viscosities in the range of 2.75 – 3 cP for the 63:37 NaCl-UCl 3 mixture in the same temperature range using rolling ball viscosity measurements. Computational viscosity of a similar mixture (64:36) can be obtained from the work Andersson et al. using the reported diffusion coefficients, and the hydrodynamic radius from the pair-radial distribution functions (RDFs). Using Eq (1) (vida infra), the viscosity would be 2.50 cP at 1100K. This is not to say that these values are incorrect due to the varying reported values, but aims to highlight the necessity of this work. The data reported in this ongoing work are computations on a 64:36 mixture of NaCl-UCl 3 at 987K. This work is likely to be expanded into varying concentrations of this mixture along with the inclusion of other salt candidate mixtures.

38 RADIATION CHEMISTRY, RADIOCHEMISTRY, AND NUCLEA↗

NASA NTRS1980

Rolling-element bearings

In contrast to hydrodynamic bearings, which depend for low-friction characteristics on a fluid film between the journal and the bearing surfaces, roller-element bearings employ a number of balls or rollers that roll in an annular space. The paper briefly outlines the advantages and disadvantages of roller-element bearings as compared to hydrodynamic bearings. The discussion covers bearing types, rolling friction, friction losses in rolling bearings, contact stresses, deformations, kinematics (normal and high speeds), bearing dynamics including elastohydrodynamics, load distribution, lubrication (grease, solid oil, oil-air mist), specific dynamic capacity and life, specific static capacity, and fatigue or wearout (elastohydrodynamics, wear). Rolling bearing wear factor as a function of operating environment is plotted and discussed.

Anderson, W. J.↗

NASA NTRS1983

Kinematic equations for resolved-rate control of an industrial robot arm

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.

Barker, L. K.↗

NASA NTRS1985

Application of CFD techniques toward the validation of nonlinear aerodynamic models

Applications of computational fluid dynamics (CFD) methods to determine the regimes of applicability of nonlinear models describing the unsteady aerodynamic responses to aircraft flight motions are described. The potential advantages of computational methods over experimental methods are discussed and the concepts underlying mathematical modeling are reviewed. The economic and conceptual advantages of the modeling procedure over coupled, simultaneous solutions of the gas dynamic equations and the vehicle's kinematic equations of motion are discussed. The modeling approach, when valid, eliminates the need for costly repetitive computation of flow field solutions. For the test cases considered, the aerodynamic modeling approach is shown to be valid.

Schiff, L. B.↗

NASA NTRS1985

On the coupling of fluid dynamics and electromagnetism at the top of the earth's core

A kinematic approach to short-term geomagnetism has recently been based upon pre-Maxwell frozen-flux electromagnetism. A complete dynamic theory requires coupling fluid dynamics to electromagnetism. A geophysically plausible simplifying assumption for the vertical vorticity balance, namely that the vertical Lorentz torque is negligible, is introduced and its consequences are developed. The simplified coupled magnetohydrodynamic system is shown to conserve a variety of magnetic and vorticity flux integrals. These provide constraints on eligible models for the geomagnetic main field, its secular variation, and the horizontal fluid motions at the top of the core, and so permit a number of tests of the underlying assumptions.

Benton, E. R.↗

NASA NTRS1989

Cartesian control of redundant robots

A Cartesian-space position/force controller is presented for redundant robots. The proposed control structure partitions the control problem into a nonredundant position/force trajectory tracking problem and a redundant mapping problem between Cartesian control input F is a set member of the set R(sup m) and robot actuator torque T is a set member of the set R(sup n) (for redundant robots, m is less than n). The underdetermined nature of the F yields T map is exploited so that the robot redundancy is utilized to improve the dynamic response of the robot. This dynamically optimal F yields T map is implemented locally (in time) so that it is computationally efficient for on-line control; however, it is shown that the map possesses globally optimal characteristics. Additionally, it is demonstrated that the dynamically optimal F yields T map can be modified so that the robot redundancy is used to simultaneously improve the dynamic response and realize any specified kinematic performance objective (e.g., manipulability maximization or obstacle avoidance). Computer simulation results are given for a four degree of freedom planar redundant robot under Cartesian control, and demonstrate that position/force trajectory tracking and effective redundancy utilization can be achieved simultaneously with the proposed controller.

Colbaugh, R.↗

NASA NTRS1993

Classical confined particles

An alternative picture of classical many body mechanics is proposed. In this picture particles possess individual kinematics but are deprived from individual dynamics. Dynamics exists only for the many particle system as a whole. The theory is complete and allows to determine the trajectories of each particle. It is proposed to use our picture as a classical prototype for a realistic theory of confined particles.

Horzela, Andrzej↗

NASA NTRS1988

Base reaction optimization of redundant manipulators for space applications

One of the problems associated with redundant manipulators which were proposed for space applications is that the reactions transmitted to the base of the manipulator as a result of the motion of the manipulator will cause undesirable effects on the dynamic behavior of the supporting space structure. It is therefore necessary to minimize the magnitudes of the forces and moments transmitted to the base. It is shown that kinematic redundancy can be used to solve the dynamic problem of minimizing the magnitude of the base reactions. The methodology described is applied to a four degree-of-freedom spatial manipulator with one redundant degree-of-freedom.

Chung, C. L.↗

NASA NTRS1992

Three-dimensional kinematic reconnection of plasmoids with nulls

The global nonlinear dynamics of magnetic field lines in plasmoids with a pair of nulls, where B = 0, is studied. The aim of this analysis is to describe the separatrix surfaces on which singularities can occur in ideal magnetohydrodynamics because of topological changes in the field. These separatrix surfaces should locate the boundary layers associated with 3D reconnection in the presence of resistivity or inertia. It is found that the field lines exhibit chaotic scattering with several properties in common with plasmoid models without nulls (in which one component of the magnetic field never changes sign). In particular, the singular surfaces can be fractal, implying complex current density structures down to the dissipation scale. These generic features are expected to exist in typical coronal magnetic geometries exhibiting three-dimensional reconnection and the formation of current sheets.

Lau, Yun-Tung↗

NASA NTRS1993

Non-recursive augmented Lagrangian algorithms for the forward and inverse dynamics of constrained flexible multibodies

A technique is presented for solving the inverse dynamics of flexible planar multibody systems. This technique yields the non-causal joint efforts (inverse dynamics) as well as the internal states (inverse kinematics) that produce a prescribed nominal trajectory of the end effector. A non-recursive global Lagrangian approach is used in formulating the equations for motion as well as in solving the inverse dynamics equations. Contrary to the recursive method previously presented, the proposed method solves the inverse problem in a systematic and direct manner for both open-chain as well as closed-chain configurations. Numerical simulation shows that the proposed procedure provides an excellent tracking of the desired end effector trajectory.

Bayo, Eduardo↗

DOE OSTI2026

Mapping the Perseus galaxy cluster with XRISM: Gas kinematic features and their implications for turbulence

We present extended gas kinematic maps of the Perseus cluster based on a combination of five new XRISM/Resolve pointings observed in 2025 with four performance verification datasets from 2024, totaling a net exposure of 745 ks. To date, Perseus remains the only cluster that has been extensively mapped out to ≃0.7 r 2500 by XRISM/Resolve, while simultaneously offering sufficient spatial resolution to resolve gaseous substructures driven by mergers and active galactic nucleus (AGN) feedback. Our observations cover multiple radial directions and a broad range of dynamical scales, enabling us to characterize the kinematic properties of the intracluster medium up to a scale of ∼500 kpc. In the measurements, we detected high-velocity dispersions (≃300km s −1 ) in the eastern region of the cluster that are spatially coincident with the extended X-ray surface brightness excess and correspond to a nonthermal pressure fraction of ≃7 − 13%. The velocity field outside the AGN-dominant region can be effectively described by a single, large-scale kinematic driver based on the velocity structure function, which statistically favors an energy injection scale of at least a few hundred kpc. The estimated turbulent dissipation energy is comparable to the gravitational potential energy released by a recent merger, implying a significant role of turbulent cascade in the merger energy conversion. In the bulk velocity field, we observed a dipole-like pattern along the east-west direction with an amplitude of ≃ ± 200 − 300 km s −1 , indicating rotational motions induced by the recent merger event. This feature constrains the viewing direction to ≃30° −50° relative to the normal of the merger plane. Our hydrodynamic simulations suggest that Perseus has experienced at least two energetic mergers since redshift z ∼ 1, the most recent of which is associated with the radio galaxy IC310, in agreement with recent SRG/eROSITA findings. This study showcases exciting scientific opportunities for future missions with high-resolution spectroscopic capabilities (e.g., HUBS, LEM, and NewAthena).

79 ASTRONOMY AND ASTROPHYSICS↗