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At least 469 records · Page 26
All sourcesNASA NTRSDOE OSTI
NASA NTRS1992

The spatial and kinematic structure of QSO metal-line absorption systems

Recent attempts to infer the spatial and kinematic distributions of the material responsible for absorption lines observed in the spectra of background QSOs are presented. Current models of the absorbing regions are compared, and initial observational results are described. This research is expected to lead eventually to a detailed picture of the extended gaseous halo regions of galaxies at early evolutionary stages and to an understanding of the physical processes at work in these halos.

Lanzetta, Kenneth M.↗
NASA NTRS1991

Kinematic and precipitation structure of a small, long-lived mesoscale convective system

A comprehensive analysis using conventional single Doppler radar analyses, analysis of multiparameter (CP-2) data, network sounding and surface data, and GOES satellite data is presented to characterize the internal kinematic and precipitation structure of a small, long-lived mesoscale convective system. The data pertain to the Cooperative Huntsville Meteorological experiment conducted over northern Alabama and central Tennessee during June and July of 1986. The mesoscale convective system pulsations visible in the IR patterns were associated with the development of closely interacting aggregates of convective elements. The aggregates were about 20 km in diameter, attained echo tops of about 13 km, and were dominated by a single relatively intense convective element. The measured difference in radial velocity across the upper portion of these elements was about 20 m/s over a distance of about 10 km.

Knupp, Kevin R.↗
NASA NTRS1993

A kinematic analysis of the high-latitude thermospheric neutral circulation pattern

'Synthesized' thermospheric neutral wind fields for solar maximum, December solstice conditions for both quiet and active levels of geometric activity, are provided on the basis of averaged measurements from the Dynamics Explorer 2 (DE 2) satellite combined with theoretical model calculations. High-latitude DE 2 wind data obtained from multiorbit averages are merged with modeled winds from the NCAR thermosphere-ionosphere general circulation model. A 'kinematic analysis' is performed to decompose the merged semiempirical wind fields into their respective divergent and nondivergent components at high latitudes and to calculate the corresponding potential and stream functions. It is concluded that the nondivergent component of the high-latitude thermospheric neutral wind is representative of the convection-driven component of the neutral wind at F region altitudes. The nondivergent wind component comprises a large percentage of the total wind field for both quiet and active geomagnetic conditions.

Thayer, J. P.↗
NASA NTRS1993

Joint-space Lyapunov-based direct adaptive control of a kinematically redundant telerobot manipulator

This paper presents the design of a joint-space adaptive control scheme for controlling the slave arm motion of a dual-arm telerobot system developed at Goddard Space Flight Center (GSFC) to study telerobotic operations in space. Each slave arm of the dual-arm system is a kinematically redundant manipulator with seven degrees of freedom (DOF). Using the concept of model reference adaptive control (MRAC) and Liupunov direct method, we derive an adaptation algorithm that adjusts the PD controller gains of the control scheme. The development of the adaptive control scheme assumes that the slave arm motion is non-compliant and slowly varying. The implementation of the derived control scheme does not require the computation of manipulator dynamics which makes the control scheme sufficiently fast for real-time applications. Computer simulation study performed for the 7-DOF slave arm shows that the developed control scheme can efficiently adapt to sudden change in payload while tracking various test trajectories such as ramp or sinusoids with negligible position errors.

Nguyen, Charles C.↗
NASA NTRS1994

Efficient Kinematic Computations For 7-DOF Manipulators

Efficient algorithms for forward kinematic mappings of seven-degree-of-freedom (7-DOF) robotic manipulator having revolute joints developed on basis of representation of redundant DOF in terms of parameter called "arm angle." Continuing effort to exploit redundancy in manipulator according to concept of basic and additional tasks. Concept also discussed in "Configuration-Control Scheme Copes With Singularities" (NPO-18556) and "Increasing the Dexterity of Redundant Robots" (NPO-17801).

Seraji, Homayoun↗
NASA NTRS1993

Kinematics and constraints associated with swashplate blade pitch control

An important class of techniques to reduce helicopter vibration is based on using a Higher Harmonic controller to optimally define the Higher Harmonic blade pitch. These techniques typically require solution of a general optimization problem requiring the determination of a control vector which minimizes a performance index where functions of the control vector are subject to inequality constraints. Six possible constraint functions associated with swashplate blade pitch control were identified and defined. These functions constrain: (1) blade pitch Fourier Coefficients expressed in the Rotating System, (2) blade pitch Fourier Coefficients expressed in the Nonrotating System, (3) stroke of the individual actuators expressed in the Nonrotating System, (4) blade pitch expressed as a function of blade azimuth and actuator stroke, (5) time rate-of-change of the aforementioned parameters, and (6) required actuator power. The aforementioned constraints and the associated kinematics of swashplate blade pitch control by means of the strokes of the individual actuators are documented.

Leyland, Jane A.↗
NASA NTRS1991

Direct kinematics solution architectures for industrial robot manipulators: Bit-serial versus parallel

A Very Large Scale Integration (VLSI) architecture for robot direct kinematic computation suitable for industrial robot manipulators was investigated. The Denavit-Hartenberg transformations are reviewed to exploit a proper processing element, namely an augmented CORDIC. Specifically, two distinct implementations are elaborated on, such as the bit-serial and parallel. Performance of each scheme is analyzed with respect to the time to compute one location of the end-effector of a 6-links manipulator, and the number of transistors required.

Lee, J.↗
NASA NTRS1993

Evolution of large-scale plasma structures in comets: Kinematics and physics

Cometary and solar wind data from December 1985 through April 1986 are presented for the purpose of determining the solar wind conditions associated with comet plasma tail disconnection events (DE's). The cometary data are from The International Halley Watch Atlas of Large-Scale Phenomena (Brandt, Niedner, and Rahe, 1992). In addition, we present the kinematic analysis of 4 DE's, those of Dec. 13.5 and 31.2, 1985, and Feb. 21.7 and 28.7, 1986. The circumstances of these DE's clearly illustrate the need to analyze DE's in groups. In situ solar wind measurements from IMP-8, ICE, and PVO were used to construct the variation of solar wind speed, density, and dynamic pressure during this interval. Data from these same spacecraft plus Vega-1 were used to determine the time of 48 current sheet crossings. These data were fitted to heliospheric current sheet curves extrapolated from the corona into the heliosphere in order to determine the best-fit source surface radius for each Carrington rotation. Comparison of the solar wind conditions and 16 DE's in Halley's comet (the four DE's discussed in this paper and 12 DE's in the literature) leaves little doubt that DE's are associated primarily with crossings of the heliospheric current sheet and apparently not with any other property of the solar wind. If we assume that there is a single or primary physical mechanism and that Halley's DE's are representative, efforts at simulation should concentrate on conditions at current sheet crossings. The mechanisms consistent with this result are sunward magnetic reconnection and tailward magnetic reconnection, if tailward reconnection can be triggered by the sector boundary crossing.

Brandt, John C.↗
NASA NTRS1993

A global approach to kinematic path planning to robots with holonomic and nonholonomic constraints

Robots in applications may be subject to holonomic or nonholonomic constraints. Examples of holonomic constraints include a manipulator constrained through the contact with the environment, e.g., inserting a part, turning a crank, etc., and multiple manipulators constrained through a common payload. Examples of nonholonomic constraints include no-slip constraints on mobile robot wheels, local normal rotation constraints for soft finger and rolling contacts in grasping, and conservation of angular momentum of in-orbit space robots. The above examples all involve equality constraints; in applications, there are usually additional inequality constraints such as robot joint limits, self collision and environment collision avoidance constraints, steering angle constraints in mobile robots, etc. The problem of finding a kinematically feasible path that satisfies a given set of holonomic and nonholonomic constraints, of both equality and inequality types is addressed. The path planning problem is first posed as a finite time nonlinear control problem. This problem is subsequently transformed to a static root finding problem in an augmented space which can then be iteratively solved. The algorithm has shown promising results in planning feasible paths for redundant arms satisfying Cartesian path following and goal endpoint specifications, and mobile vehicles with multiple trailers. In contrast to local approaches, this algorithm is less prone to problems such as singularities and local minima.

Divelbiss, Adam↗
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 NTRS1994

A Fully Associative, Non-Linear Kinematic, Unified Viscoplastic Model for Titanium Based Matrices

Specific forms for both the Gibb's and complementary dissipation potentials are chosen such that a complete (i.e., fully associative) potential based multiaxial unified viscoplastic model is obtained. This model possesses one tensorial internal state variable that is associated with dislocation substructure, with an evolutionary law that has nonlinear kinematic hardening and both thermal and strain induced recovery mechanisms. A unique aspect of the present model is the inclusion of non-linear hardening through the use of a compliance operator, derived from the Gibb's potential, in the evolution law for the back stress. This non-linear tensorial operator is significant in that it allows both the flow and evolutionary laws to be fully associative (and therefore easily integrated) and greatly influences the multiaxial response under non-proportional loading paths. In addition to this nonlinear compliance operator, a new consistent, potential preserving, internal strain unloading criterion has been introduced to prevent abnormalities in the predicted stress-strain curves, which are present with nonlinear hardening formulations, during unloading and reversed loading of the external variables. Specification of an experimental program for the complete determination of the material functions and parameters for characterizing a metallic matrix, e.g., TIMETAL 21S, is given. The experiments utilized are tensile, creep, and step creep tests. Finally, a comparison of this model and a commonly used Bodner-Partom model is made on the basis of predictive accuracy and numerical efficiency.

Arnold, S. M.↗
NASA NTRS1994

Kinematic modeling of a double octahedral Variable Geometry Truss (VGT) as an extensible gimbal

This paper presents the complete forward and inverse kinematics solutions for control of the three degree-of-freedom (DOF) double octahedral variable geometry truss (VGT) module as an extensible gimbal. A VGT is a truss structure partially comprised of linearly actuated members. A VGT can be used as joints in a large, lightweight, high load-bearing manipulator for earth- and space-based remote operations, plus industrial applications. The results have been used to control the NASA VGT hardware as an extensible gimbal, demonstrating the capability of this device to be a joint in a VGT-based manipulator. This work is an integral part of a VGT-based manipulator design, simulation, and control tool.

Williams, Robert L., II↗
NASA NTRS1993

The kinematics of dense clusters of galaxies. I - The data

We have measured redshifts in the fields of the 31 R greater than 1 Abell clusters with z of 0.02-0.05 and absolute b exp II above 30 deg. At least ten of the fields are severely contaminated by superimposed velocity peaks. We derive the mean velocities and velocity dispersions of the 25 dense peaks in the sample. The abundance of peaks, 6.6 x 10 exp -6 h-cubed Mpc exp -3, is consistent with the mean number density of R above 1 Abell clusters. The range of velocity dispersions is 304-1346 km/s. The median dispersion is 718 km/s. The subset of eight systems with cD galaxies has a median velocity dispersion of 792 km/s, close to that of non-cD systems (626 km/s). When these data are combined with 16 cD cluster velocity dispersions from our previous study (Zabludoff et al., 1990, or ZHG) and Dunn (1991), eight of 25 cD galaxies have peculiar motions larger than half the cluster velocity dispersions. These findings further support the conclusions of Beers and Geller (1983), ZHG, and Dunn (1991), who argue that cD galaxies do not lie in the global kinematic center, but in local potential minima. If so, systems with speeding cD's are probably a guide to substructure in dynamically evolving systems.

Zabludoff, Ann I.↗
NASA NTRS1993

Morphology and kinematics in clusters of galaxies

The existence of subclustering, infall, and the morphology-local density relation suggest that there should be differences in the kinematics of different morphological populations in clusters. From published data, we compile a sample of galaxy redshifts and types in six rich clusters of galaxies: A548, A1060, A1644, A1656, A2l51, and DC 2048 - 52. In three clusters, the velocity distribution of spiral galaxies is different from those of other morphological populations: (1) spirals and ellipticals differ in A1656 and A2151, and (2) spirals and S0s differ in DC 2048 - 52. The differences in the distributions result primarily from differences in the mean velocities. The results are consistent with a picture in which a cluster irregularly accretes clumps of mostly spiral galaxies from the field, causing the combined velocity distribution to be asymmetric. These clumps might infall within the plane of a wall like the Great Wall of galaxies. Recent dynamical simulations show that the asymmetries may persist until after the clumps have merged with the central mass concentration.

Zabludoff, Ann I.↗
NASA NTRS1994

Failure tolerant operation of kinematically redundant manipulators

Redundant manipulators may compensate for failed joints with their additional degrees of freedom. In this paper such a manipulator is considered fault tolerant if it can guarantee completion of a task after any one of its joints has failed. This fault tolerance of kinematically redundant manipulators is insured here. Methods to analyze the manipulator's work space find regions inherently suitable for critical tasks because of their high level of failure tolerance. Constraints are then placed on the manipulator's range of motion to guarantee completion of a task.

Lewis, Christopher L.↗
NASA NTRS1994

Robust inverse kinematics using damped least squares with dynamic weighting

This paper presents a general method for calculating the inverse kinematics with singularity and joint limit robustness for both redundant and non-redundant serial-link manipulators. Damped least squares inverse of the Jacobian is used with dynamic weighting matrices in approximating the solution. This reduces specific joint differential vectors. The algorithm gives an exact solution away from the singularities and joint limits, and an approximate solution at or near the singularities and/or joint limits. The procedure is here implemented for a six d.o.f. teleoperator and a well behaved slave manipulator resulted under teleoperational control.

Schinstock, D. E.↗
NASA NTRS1994

Global and regional kinematics from SLR stations

The stations of the Global Laser Tracking Network have significantly contributed to the measurement of plate kinematics. The expanding network of progressively improved instruments clearly demonstrates the systems' centimeter positioning accuracy. Several satellite laser ranging (SLR) analysis groups have adopted techniques to distill geodynamic information from the Lageos-1 satellite observations using orbital arc lengths from an hour to a decade. SLR observations now provide the scale for the International Terrestrial Reference System and help to define the Earth's polar motion in this system. Agreement between positions separately determined with SLR, VLBI and GPS systems has been established at the level of a few centimeters in position and a few millimeters per year in horizontal velocity.

Dunn, Peter J.↗
NASA NTRS1994

Global and regional kinematics with GPS

The inherent precision of the doubly differenced phase measurement and the low cost of instrumentation made GPS the space geodetic technique of choice for regional surveys as soon as the constellation reached acceptable geometry in the area of interest: 1985 in western North America, the early 1990's in most of the world. Instrument and site-related errors for horizontal positioning are usually less than 3 mm, so that the dominant source of error is uncertainty in the reference frame defined by the satellites orbits and the tracking stations used to determine them. Prior to about 1992, when the tracking network for most experiments was globally sparse, the number of fiducial sites or the level at which they could be tied to an SLR or VLBI reference frame usually, set the accuracy limit. Recently, with a global network of over 30 stations, the limit is set more often by deficiencies in models for non-gravitational forces acting on the satellites. For regional networks in the northern hemisphere, reference frame errors are currently about 3 parts per billion (ppb) in horizontal position, allowing centimeter-level accuracies over intercontinental distances and less than 1 mm for a 100 km baseline. The accuracy of GPS measurements for monitoring height variations is generally 2-3 times worse than for horizontal motions. As for VLBI, the primary source of error is unmodeled fluctuations in atmospheric water vapor, but both reference frame uncertainties and some instrument errors are more serious for vertical than horizontal measurements. Under good conditions, daily repeatabilities at the level of 10 mm rms were achieved. This paper will summarize the current accuracy of GPS measurements and their implication for the use of SLR to study regional kinematics.

King, Robert W.↗