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At least 433 records · Page 24
All sourcesNASA NTRSDOE OSTI
NASA NTRS1987

Parallel processing architecture for computing inverse differential kinematic equations of the PUMA arm

In advanced robot control problems, on-line computation of inverse Jacobian solution is frequently required. Parallel processing architecture is an effective way to reduce computation time. A parallel processing architecture is developed for the inverse Jacobian (inverse differential kinematic equation) of the PUMA arm. The proposed pipeline/parallel algorithm can be inplemented on an IC chip using systolic linear arrays. This implementation requires 27 processing cells and 25 time units. Computation time is thus significantly reduced.

Hsia, T. C.↗
NASA NTRS1988

Coordination of dual robot arms using kinematic redundancy

A method is developed to coordinate the motion of dual robot arms carrying a solid object, where the first robot (leader) grasps one end of the object rigidly and the second robot (follower) is allowed to change its grasping position at the other end of the object along the object surface while supporting the object. It is shown that this flexible grasping is equivalent to the addition of one more degree of freedom (dof), giving the follower more maneuvering capabilities. In particular, motion commands for the follower are generated by using kinematic redundancy. To show the utility and power of the method, an example system with two PUMA 560 robots carrying a beam is analyzed.

Suh, Il Hong↗
NASA NTRS1988

Kinematic calibration of manipulators with closed loop actuated joints

A method for performing forward kinematic calibration of manipulators having one or more closed-loop-actuated joints is presented. The technique is an extension of algorithms designed for open-loop jointed manipulators. The calibration is equivalent to minimizing an objective function subject to constraints. The objective function is taken as the integral of end-effector position and orientation error. The constraints arise from the closed-loop mechanisms present in the manipulator.

Everett, Louis J.↗
NASA NTRS1988

A study of kinematic models for forward calibration of manipulators

The objective of robot calibration is to identify all parameters in a robot model so that the model represents the true robot. Each model has its own set of parameters. The authors prove that regardless of the kinematic model chosen, there are a maximum number of parameters that must be determined, implying that model accuracy cannot be improved by adding parameters. In addition, the authors demonstrate how to model any manipulator so that a minimum size Jacobian is used, thus reducing the computation required for calibration.

Everett, Louis J.↗
NASA NTRS1988

Kinematics and ionization of extended gas in active galaxies. IV - The Seyfert 2 galaxy NGC 4388

The results of direct CCD imaging and long-slit medium-dispersion spectroscopy of the extended narrow-line-emitting gas in the nearby Seyfert 2 galaxy NGC 4388 are presented. The spectra are used to investigate the distribution, kinematics, and ionization structure of the excited gas in the regions surrounding the nucleus out to a distance of about 4.8 kpc. The data support earlier suggestions that the galaxy, which appears to lie near the core of the Virgo cluster, has been tidally distorted, possibly by the nearby cluster core galaxies M84 or IC 3303. Much of the highly ionized gas in the galaxy appears to be distributed in two wide cones originating from the nucleus and extending above and below the disk. Explanations are offered for the distribution of this gas and for the remainder of the gas above and below the disk.

Corbin, Michael R.↗
NASA NTRS1988

The kinematics and dynamics of the rich cluster of galaxies Abell 539

A sample of 289 redshifts within 10 deg of the center of the cluster A539 have been obtained in order to investigate the cluster kinematics and dynamics. Within 1 Mpc of the center, the physical parameters of A539 are found to be typical of those of rich clusters. It is shown that early-type galaxies are more concentrated toward the cluster center and that the velocity distributions of early-type and late-type galaxies differ marginally.

Ostriker, Eve C.↗
NASA NTRS1989

Kinematic evidence for a relativistic Keplerian disk - Arp 102B

Line profiles were calculated for a Keplerian disk with allowance made for relativistic effects. Excellent agreement was found between the resulting double peaked asymmetric profiles and the H-alpha line of Arp 102B; this yielded an accurate determination of several disk parameters. It is believed that the line profile of Arp 102B shows the most convincing direct kinematic evidence for rotation in any AGN.

Chen, Kaiyou↗
NASA NTRS1989

The kinematics of Milky Way halo gas. I - Observations of low-ionization species

Ultraviolet interstellar line day observed with the IUE toward 70 halo stars and four extragalactic sight lines are analyzed in a study of the large-scale kinematic properties of the Milky Way halo gas. The motions of the low-ionization gas is focused on. Large systematic velocities are found, and a pronounced asymmetry in the absorption characteristics of halo gas toward the Galactic poles is indicated. In the north, substantial amounts of material are falling toward the disk at velocities up to about 120 km/s in the most extreme case. Toward the south, low-ionization material shows no extreme or systematic motions.

Danly, Laura↗
NASA NTRS1989

A framework for modelling kinematic measurements in gravity field applications

To assess the resolution of the local gravity field from kinematic measurements, a state model for motion in the gravity field of the earth is formulated. The resulting set of equations can accommodate gravity gradients, specific force, acceleration, velocity and position as input data and can take into account approximation errors as well as sensor errors.

Schwarz, K. P.↗
NASA NTRS1989

Kinematic functions for the 7 DOF robotics research arm

The Robotics Research Model K-1207 manipulator is a redundant 7R serial link arm with offsets at all joints. To uniquely determine joint angles for a given end-effector configuration, the redundancy is parameterized by a scalar variable which corresponds to the angle between the manipulator elbow plane and the vertical plane. The forward kinematic mappings from joint-space to end-effector configuration and elbow angle, and the augmented Jacobian matrix which gives end-effector and elbow angle rates as a function of joint rates, are also derived.

Kreutz, K.↗
NASA NTRS1989

Reflexive obstacle avoidance for kinematically-redundant manipulators

Dexterous telerobots incorporating 17 or more degrees of freedom operating under coordinated, sensor-driven computer control will play important roles in future space operations. They will also be used on Earth in assignments like fire fighting, construction and battlefield support. A real time, reflexive obstacle avoidance system, seen as a functional requirement for such massively redundant manipulators, was developed using arm-mounted proximity sensors to control manipulator pose. The project involved a review and analysis of alternative proximity sensor technologies for space applications, the development of a general-purpose algorithm for synthesizing sensor inputs, and the implementation of a prototypical system for demonstration and testing. A 7 degree of freedom Robotics Research K-2107HR manipulator was outfitted with ultrasonic proximity sensors as a testbed, and Robotics Research's standard redundant motion control algorithm was modified such that an object detected by sensor arrays located at the elbow effectively applies a force to the manipulator elbow, normal to the axis. The arm is repelled by objects detected by the sensors, causing the robot to steer around objects in the workspace automatically while continuing to move its tool along the commanded path without interruption. The mathematical approach formulated for synthesizing sensor inputs can be employed for redundant robots of any kinematic configuration.

Karlen, James P.↗
NASA NTRS1989

Dynamical modeling of serial manipulators with flexible links and joints using the method of kinematic influence

A method of formulating the dynamical equations of a flexible, serial manipulator is presented, using the Method of Kinematic Influence. The resulting equations account for rigid body motion, structural motion due to link and joint flexibilities, and the coupling between these two motions. Nonlinear inertial loads are included in the equations. A finite order mode summation method is used to model flexibilities. The structural data may be obtained from experimental, finite element, or analytical methods. Nonlinear flexibilities may be included in the model.

Graves, Philip L.↗
NASA NTRS1988

A kinematic model of ridge-transform geometry evolution

A simple kinematic model is used to study the effects of various parameters on the evolution of zero-offset transforms and very-long-offset transforms. Consideration is given to the effects of initial configuration, degree of asymmetry, and degree of bias in asymmetry on the generation of these ridge transform geometries and on the possible steady-state nature of the transform length spectra. Of the parameters tests, only lack of 'memory' of zero-offset transforms affects transform length distribution.

Stoddard, Paul R.↗
NASA NTRS1990

Emission-line variations and broad-line region kinematics of NGC 5548

Sixteen spectroscopic observations of the Seyfert galaxy NGC 5548 were made between March 1979 and June 1984 at Palomar and Steward Observatories. Broad-line flux variations correlated with nonstellar continuum changes were measured. H-beta, H-gamma, and He II 4686A all respond rapidly to continuum variations providing strong evidence for photoionization by a central continuum source. Additionally, H-beta profile variations have occurred during the 1900 day monitoring period. These profile variations also correlate with changes in the continuum, but lag behind by about 90 days or less. A kinematic model that incorporates radial outflow and an internal line opacity source is proposed to explain qualitatively the observed H-beta profile variations.

Rosenblatt, Edward I.↗
NASA NTRS1990

Some fundamentals regarding kinematics and generalized forces for multibody dynamics

In order to illustrate the various forms in which generalized forces can arise from diverse subsystem analyses in multibody dynamics, intrinsic dynamical equations for the rotational dynamics of a rigid body are derived from Hamilton's principle. Two types of generalized forces are derived: (1) those associated with the virtual rotation vector in some orthogonal basis, and (2) those associated with varying generalized coordinates. As one physical or kinematical result (such as a frequency or a specific direction cosine) cannot rely on this selection, a 'blind' coupling of two models in which generalized forces are calculated in different ways would be wrong. Both types should use the same rotational coordinates and should denote the virtual rotation on a similar basis according to method 1, or in terms of common rotational coordinates and their diversifications as in method 2. Alternatively, the generalized forces and coordinates of one model may be transformed to those of the other.

Hodges, Dewey H.↗
NASA NTRS1990

A study of the kinematic dynamo equation with time-dependent coefficients

During an active star formation epoch the interstellar medium of a galaxy is in a hyperactive state, and the average turbulent velocity is higher than in the long periods between star formation epochs. The galactic magnetic field generated by dynamo action depends strongly on the turbulent velocity, so that generation of magnetic field should vary with star formation activity. This paper is a preliminary study of the kinematic dynamo equation with time-dependent coefficients simulating the time dependence of the star formation activities. Ko and Parker argued in a simple model that the thickness of the dynamo region is the most sensitive dynamo parameter. The present work shows that the effect of inflating the galactic disk suddenly is to transform a stationary magnetic field into a growing field while keeping the profile more or less intact. Plane wave solutions for a dynamo with power-law time-dependent parameters show that the field may decay first and then grow, and vice versa, which is quite different from a constant parameter dynamo.

Ko, Chung-Ming↗
NASA NTRS1990

Rainfall and surface kinematic conditions over central amazonia during ABLE 2B

Rainfall, rainfall systems, and surface kinematics of the central Amazon basin wet season are investigated using meteorological and chemical data collected during the wet season Amazon Boundary Layer Experiment (ABLE) near Manaus, Brazil. Through analysis of (GOES-West) imagery, it is determined that, based on location of the initial development, there are three main types of convective systems which influence a mesoscale network near Manaus, namely the Coastal Occurring Systems (COS), the Basin Occurring Systems (BOS), and the Locally Occurring Systems (LOS). Chemical analysis of rainwater delivered by these systems shows significant differences in concentrations of formate, acetate, pyruvate, sulfate, and hydrogen ion, and measurements of aerosol concentrations near Manaus show large influxes of aerosols into central Amazonia after passage of BOS and COS. Results of satellite based classification of the rain-producing systems are discussed.

Greco, Steven↗
NASA NTRS1990

Stellar kinematics of elliptical galaxies in pairs

In both galaxy pairs Arp 166 and 3C 278 the authors find radially increasing velocity dispersions indicating a perturbed, non-equilibrium state of the galaxies after the tidal interaction. In all galaxies, the increase is most pronounced in the regions which correspond to the centers of the outer isophotes. The authors suggest a scenario in which the galaxies are strongly decelerated on their orbits during the encounter. The deceleration depends on the radial position in the perturbed galaxy and vanishes in the center of the perturbed galaxy (Spitzer, 1958). In addition, the crossing time of the stars near the center is very short, implying that the tidal perturbations can be averaged over several orbital periods (e.g., Binney and Tremaine, 1987). In consequence, the central parts are not affected by the tidal interaction while the outer parts are strongly decelerated. This leads to a displacement of the central parts of the galaxies with respect to their envelopes in an anti-symmetrical way for the two components of each galaxy pair. The motions of the central parts subsequently are opposed by dynamical friction with the surrounding envelopes. Due to dynamical friction, the density of the stars increases in the wakes of the moving central parts (Mulder, 1983). The overdensity of stars in the wakes of the moving central parts efficiently decelerates the motions of the central parts. The reaction of the stars in the overdensity regions leads to an increase of the velocity dispersion mainly along the orbits of the moving central parts. The presented observations, especially the asymmetrical luminosity profiles and the radially increasing velocity dispersions support consistently the above scenario of tidal interaction between galaxies. Further spectroscopic observations are necessary in order to investigate the degree of anisotropy in the kinematically perturbed regions.

Madejsky, Rainer↗