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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 415 records · Page 23
All sourcesNASA NTRSDOE OSTI
NASA NTRS1988

The effect of inertial coupling in the dynamics and control of flexible robotic manipulators

A general model of the dynamics of flexible robotic manipulators is presented, including the gross motion of the links, the vibrations of the links and joints, and the dynamic coupling between the gross motions and vibrations. The vibrations in the links may be modeled using lumped parameters, truncated modal summation, a component mode synthesis method, or a mixture of these methods. The local link inertia matrix is derived to obtain the coupling terms between the gross motion of the link and the vibrations of the link. Coupling between the motions of the links results from the kinematic model, which utilizes the method of kinematic influence. The model is used to simulate the dynamics of a flexible space-based robotic manipulator which is attached to a spacecraft, and is free to move with respect to the inertial reference frame. This model may be used to study the dynamic response of the manipulator to the motions of its joints, or to externally applied disturbances.

Tesar, Delbert↗
DOE OSTI2024

Six spiral galaxies lacking dark matter

Dark matter is believed to be the essential building blocks of galaxy formation. While instances of galaxies lacking dark matter have been observed, these occurrences are typically linked to specific formation mechanisms, making them stand out as unique cases. In spiral galaxies, the presence of flat rotation curves is a common observation, indicating the need for dark matter to support these dynamics. However, the galaxies displaying minimal or no dark matter are likely not exceptional cases. We report several spiral galaxies where the flat rotation areas exhibit an average dynamical to baryonic mass ratio value of M dyn /m bary ~ 1.09. The low dynamical to baryonic mass ratios indicate that the kinematics of these galaxies can be supported by their baryonic mass only. The existence of spiral galaxies devoid of dark matter suggests that, in specific scenarios, the influence of dark matter on galaxy formation may not be as universally essential as previously believed.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2022

CLASSY III. The Properties of Starburst-driven Warm Ionized Outflows

We report the results of analyses of galactic outflows in a sample of 45 low-redshift starburst galaxies in the COS Legacy Archive Spectroscopic SurveY (CLASSY), augmented by five additional similar starbursts with Cosmic Origins Spectrograph (COS) data. The outflows are traced by blueshifted absorption lines of metals spanning a wide range of ionization potential. The high quality and broad spectral coverage of CLASSY data enable us to disentangle the absorption due to the static interstellar medium (ISM) from that due to outflows. We further use different line multiplets and doublets to determine the covering fraction, column density, and ionization state as a function of velocity for each outflow. We measure the outflow's mean velocity and velocity width, and find that both correlate in a highly significant way with the star formation rate, galaxy mass, and circular velocity over ranges of four orders of magnitude for the first two properties. We also estimate outflow rates of metals, mass, momentum, and kinetic energy. We find that, at most, only about 20% of silicon created and ejected by supernovae in the starburst is carried out in the warm phase we observe. The outflows' mass-loading factor increases steeply and inversely with both circular and outflow velocity (log–log slope ~–1.6), and reaches ~10 for dwarf galaxies. We find that the outflows typically carry about 10%–100% of the momentum injected by massive stars and about 1%–20% of the kinetic energy. We show that these results place interesting constraints on, and new insights into, models and simulations of galactic winds.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2023

DESI Observations of the Andromeda Galaxy: Revealing the Immigration History of Our Nearest Neighbor

Abstract We present Dark Energy Spectroscopic Instrument (DESI) observations of the inner halo of M31, which reveal the kinematics of a recent merger—a galactic immigration event—in exquisite detail. Of the 11,416 sources studied in 3.75 hr of on-sky exposure time, 7438 are M31 sources with well-measured radial velocities. The observations reveal intricate coherent kinematic structure in the positions and velocities of individual stars: streams, wedges, and chevrons. While hints of coherent structures have been previously detected in M31, this is the first time they have been seen with such detail and clarity in a galaxy beyond the Milky Way. We find clear kinematic evidence for shell structures in the Giant Stellar Stream, the Northeast Shelf, and Western Shelf regions. The kinematics are remarkably similar to the predictions of dynamical models constructed to explain the spatial morphology of the inner halo. The results are consistent with the interpretation that much of the substructure in the inner halo of M31 is produced by a single galactic immigration event 1–2 Gyr ago. Significant numbers of metal-rich stars ([Fe/H] > − 0.5) are present in all of the detected substructures, suggesting that the immigrating galaxy had an extended star formation history. We also investigate the ability of the shells and Giant Stellar Stream to constrain the gravitational potential of M31, and estimate the mass within a projected radius of 125 kpc to be log 10 M NFW ( < 125 kpc ) / M ⊙ = 11.80 − 0.10 + 0.12 . The results herald a new era in our ability to study stars on a galactic scale and the immigration histories of galaxies.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2026

Characterizing the Velocity Anisotropy of the Milky Way’s Stellar Halo

Abstract Modeling the Milky Way stellar halo requires well-determined density and velocity anisotropy profiles. However, it has been challenging to gather a large sample of stars with six-dimensional data that extend beyond 40 kpc to map the outer halo. Our work investigates the velocity anisotropy in the Milky Way stellar halo with more than 10,000 blue horizontal-branch stars, combining Gaia astrometric data and spectroscopic data from SEGUE, DESI, and LAMOST. This large sample allows us to obtain a detailed profile of up to ∼50 kpc. Radial velocities are predominant in the inner halo (<30 kpc), and the anisotropy presents a smooth decrease before rapidly dropping to negative values, becoming dominated by tangential dispersion velocities. Removing the main known accreted structures of the Milky Way makes the anisotropy profile radially dominated at all radii. Our profile clearly shows an increase in the anisotropy from the center of the Galaxy, in accordance to the simulations. We also investigate the correlation of anisotropy with metallicity and with color. The lack of correlation between metallicity and anisotropy in our clean sample reinforces that this relation is driven by merger events. The initial exploration with color indicates a relation between kinematics and age, showing that older stars are dynamically colder and present less radial orbits than younger stars in the inner halo.

Barbosa, F. O. [Universidade de São Paulo] (ORCID:↗
NASA NTRS1983

On excitation of Earth's free wobble and reference frames

The excitation of the Earth's polar motion in connection with problems that are associated with the diversity of reference frames involved in observations and theoretical computations is studied. Following the dynamics of the Earth's polar motion, the kinematics that relates observations from different reference frames is developed. The conventional procedures of studying the seismic excitation of polar motion are re-examined, subject to the question: relative to what reference frame? It is concluded that an inconsistency in reference frames has prevailed in the literature. While this inconsistency is indeed far from trivial, the resultant discrepancy, however, is small for all practical purposes.

Chao, B. F.↗
NASA NTRS1984

On the excitation of the earth's free wobble and reference frames

The excitation of the earth's polar motion in connection with problems that are associated with the diversity of reference frames involved in observations and theoretical computations is studied. Following the dynamics of the earth's polar motion, the kinematics that relates observations from different reference frames is developed. The conventional procedures of studying the seismic excitation of polar motion are re-examined, subject to the question: relative to what reference frame? It is concluded that an inconsistency in reference frames has prevailed in the literature. While this inconsistency is indeed far from trivial, the resultant discrepancy, however, is small for all practical purposes.

Chao, B. F.↗
NASA NTRS1987

A dual-processor multi-frequency implementation of the FINDS algorithm

This report presents a parallel processing implementation of the FINDS (Fault Inferring Nonlinear Detection System) algorithm on a dual processor configured target flight computer. First, a filter initialization scheme is presented which allows the no-fail filter (NFF) states to be initialized using the first iteration of the flight data. A modified failure isolation strategy, compatible with the new failure detection strategy reported earlier, is discussed and the performance of the new FDI algorithm is analyzed using flight recorded data from the NASA ATOPS B-737 aircraft in a Microwave Landing System (MLS) environment. The results show that low level MLS, IMU, and IAS sensor failures are detected and isolated instantaneously, while accelerometer and rate gyro failures continue to take comparatively longer to detect and isolate. The parallel implementation is accomplished by partitioning the FINDS algorithm into two parts: one based on the translational dynamics and the other based on the rotational kinematics. Finally, a multi-rate implementation of the algorithm is presented yielding significantly low execution times with acceptable estimation and FDI performance.

Godiwala, Pankaj M.↗
NASA NTRS1989

Direct method for solution of three-dimensional unsteady incompressible Navier-Stokes equations

A three-dimensional, unsteady analysis for the velocity-vorticity formulation of the Navier-Stokes (NS) equations is described. This formulation highlights the natural separation of the spin dynamics of a fluid particle from its translational kinematics. This separation is exploited to produce a single pass direct inversion of the full unsteady NS operator without the need to iterate either the future wall vorticity or the nonlinear vorticity convection terms. The method has uniform second-order accuracy in time and space. As an example, it is applied to the problem of the three-dimensional flow within a shear-driven cubical box. Results are obtained for Re = 100, 400, and 1000 using a preliminary (25, 25, 25) mesh.

Osswald, G. A.↗
NASA NTRS1990

Simplified Dynamic Control Of Redundant Manipulators

Simplified scheme proposed for dynamic control of robotic manipulator having redundant joints; that is, extra degrees of freedom beyond needed to perform task, to position and orient end effector at specified position and/or move it along specified trajectory. Extra degrees of freedom used to perform simultaneous subtask. Scheme adaptive and based on observed performance of manipulator. Involves neither complicated mathematical model of dynamics of manipulator nor time-consuming inverse kinematic transformation.

Seraji, Homayoun↗
NASA NTRS1989

Determination of joint drives for stable end-effector motion in flexible robotic systems

The prescribed tasks in high speed robotic systems are severely deteriorated because of their manipulator dynamic deflections. On the other hand conventional dynamic modeling techniques fail to reveal appropriate control forces in flexible systems. The conventional dynamic equations of motion for systems subject to kinematical constraints are modified by a new concept of control force representation. The directions of the control forces are selected such that they correspond to the joint degrees of freedom. Then the joint control forces and torques that yield unperturbed prescribed motions are solved simultaneously with the system motion. A flexible manipulator is presented to illustrate the methods proposed.

Ider, Sitki Kemal↗
NASA NTRS2023

DESI Observations of the Andromeda Galaxy: Revealing the Immigration History of Our Nearest Neighbor

We present Dark Energy Spectroscopic Instrument (DESI) observations of the inner halo of M31, which reveal the kinematics of a recent merger—a galactic immigration event—in exquisite detail. Of the 11,416 sources studied in 3.75 hr of on-sky exposure time, 7438 are M31 sources with well-measured radial velocities. The observations reveal intricate coherent kinematic structure in the positions and velocities of individual stars: streams, wedges, and chevrons. While hints of coherent structures have been previously detected in M31, this is the first time they have been seen with such detail and clarity in a galaxy beyond the Milky Way. We find clear kinematic evidence for shell structures in the Giant Stellar Stream, the Northeast Shelf, and Western Shelf regions. The kinematics are remarkably similar to the predictions of dynamical models constructed to explain the spatial morphology of the inner halo. The results are consistent with the interpretation that much of the substructure in the inner halo of M31 is produced by a single galactic immigration event 1–2 Gyr ago. Significant numbers of metal-rich stars ([Fe/H] > − 0.5) are present in all of the detected substructures, suggesting that the immigrating galaxy had an extended star formation history. We also investigate the ability of the shells and Giant Stellar Stream to constrain the gravitational potential of M31, and estimate the mass within a projected radius of 125 kpc to be (log 10 ) (M NEW ) (<125 kpc)/(M ꙩ ) =(11.80 +0.12 −0.10 ). The results herald a new era in our ability to study stars on a galactic scale and the immigration histories of galaxies.

Arjun Dey↗
DOE OSTI2023

Barless flocculent galaxies: a dynamic puzzle

We draw attention to the bright galaxies that do not show a bar in their structure but have a flocculent spiral structure. Using the THINGS and HERACLES kinematic data for four barless galaxies (NGC 2841, NGC 3512, NGC 5055, NGC 7331), we built their mass models including dark haloes. We concluded that the fraction of the dark matter does not exceed 50 per cent within the optical radii of the galaxies. This is too little to explain the lack of a bar in these galaxies. In an attempt to understand the featureless structure of these galaxies, we constructed several N-body models with an initially reduced content of dark matter. We concluded that, in addition to the low mass of the dark halo, the decisive factor that leads to a barless disc is the start from an initially unstable state. An isolated dynamically cold disc (with the Toomre parameter Q < 0.5) settled into rotational equilibrium passes through the short stage of violent instability with fragmentation and formation of stellar clumps. After that, it evolves passively and ends up with a featureless structure. We assume that the barless flocculent galaxies studied in this work may be descendants of galaxies at high redshifts with rotation curves that are consistent with the high mass fraction of baryons relative to the total dark matter halo.

79 ASTRONOMY AND ASTROPHYSICS↗
NASA NTRS2018

An Educational Platform for Small Satellite Development with Proximity Operation Capabilities

An alternative to ground testing of small satellites is presented here, where the kinematics of a 3U underactuated CubeSat operating in 3 degrees-of-freedom (DOF) is reproduced by an omnidirectional wheeled platform, while satellite dynamics are simulated in real-time. The system is equipped with a relative navigation sensor in the form factor of a smartphone, the Smartphone Video Guidance Sensor (SVGS), allowing the platform to reproduce proximity operation maneuvers. The wheeled platform is used as an educational tool for students over a large range of academic levels, from high school to graduate school. A derivation of the kinematic relationship from satellite dynamics to rotacaster wheel velocities is presented, along with the guidance and control laws of the system. Simulation and experimental results demonstrate that the wheeled platform was able to successfully replicate detumble, slew, and attitude hold maneuvers of a 3U CubeSat.

Bertaska, Ivan R.↗
NASA NTRS1992

Slew maneuvers of Spacecraft Control Laboratory Experiment (SCOLE)

This is the final report on the dynamics and control of slew maneuvers of the Spacecraft Control Laboratory Experiment (SCOLE) test facility. The report documents the basic dynamical equation derivations for an arbitrary large angle slew maneuver as well as the basic decentralized slew maneuver control algorithm. The set of dynamical equations incorporate rigid body slew maneuver and three dimensional vibrations of the complete assembly comprising the rigid shuttle, the flexible beam, and the reflector with an offset mass. The analysis also includes kinematic nonlinearities of the entire assembly during the maneuver and the dynamics of the interactions between the rigid shuttle and the flexible appendage. The equations are simplified and evaluated numerically to include the first ten flexible modes to yield a model for designing control systems to perform slew maneuvers. The control problem incorporates the nonlinear dynamical equations and is expressed in terms of a two point boundary value problem.

Kakad, Yogendra P.↗
DOE OSTI2023

Dynamics in Star-forming Cores (DiSCo): project overview and the first look towards the B1 and NGC 1333 regions in Perseus

The internal velocity structure within dense gaseous cores plays a crucial role in providing the initial conditions for star formation in molecular clouds. However, the kinematic properties of dense gas at core scales (~0.01–0.1 pc) has not been extensively characterized because of instrument limitations until the unique capabilities of GBT-Argus became available. The ongoing GBT-Argus Large Program, Dynamics in Star-forming Cores (DiSCo) thus aims to investigate the origin and distribution of angular momentum of star-forming cores. DiSCo will survey all starless cores and Class 0 protostellar cores in the Perseus molecular complex down to ~0.01 pc scales with <0.05 km s –1 velocity resolution using the dense gas tracer N 2 H + . Here, we present the first data sets from DiSCo towards the B1 and NGC 1333 regions in Perseus. Our results suggest that a dense core’s internal velocity structure has little correlation with other core-scale properties, indicating these gas motions may be originated externally from cloud-scale turbulence. These first data sets also reaffirm the ability of GBT-Argus for studying dense core velocity structure and provided an empirical basis for future studies that address the angular momentum problem with a statistically broad sample.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2021

From One- to Two-Magnon Excitations in the S = 3 / 2 Magnet β - CaCr 2 O 4

Here, we apply neutron spectroscopy to measure the magnetic dynamics in the S = 3 / 2 magnet β-CaCr 2 O 4 ( T N = 21 K ). The low-energy fluctuations, in the ordered state, resemble large- S linear spin waves from the incommensurate ground state. However, at higher energy transfers, these semiclassical and harmonic dynamics are replaced by an energy and momentum broadened continuum of excitations. Applying kinematic constraints required for energy and momentum conservation, sum rules of neutron scattering, and comparison against exact diagonalization calculations, we show that the dynamics at high-energy transfers resemble low- S one-dimensional quantum fluctuations. β-CaCr 2 O 4 represents an example of a magnet at the border between classical Néel and quantum phases, displaying dual characteristics.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
NASA NTRS1987

Dynamics of spacecraft control laboratory experiment (SCOLE) slew maneuvers

This is the first of two reports on the dynamics and control of slewing maneuvers of the NASA Spacecraft Control Laboratory Experiment (SCOLE). In this report, the dynamics of slewing maneuvers of SCOLE are developed in terms of an arbitrary maneuver about any given axis. The set of dynamical equations incorporate rigid-body slew maneuver and three-dimensional vibrations of the complete assembly comprising the rigid shuttle, the flexible beam, and the reflector with an offset mass. The analysis also includes kinematic nonlinearities of the entire assembly during the maneuver and the dynamics of the interaction between the rigid shuttle and the flexible appendage. The final set of dynamical equations obtained for slewing maneuvers is highly nonlinear and coupled in terms of the flexible modes and the rigid-body modes. The equations are further simplified and evaluated numerically to include the first ten flexible modes and the SCOLE data to yield a model for designing control systems to perform slew maneuvers.

Kakad, Y. P.↗