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At least 487 records · Page 27
All sourcesNASA NTRSDOE OSTI
NASA NTRS1989

Neural learning of constrained nonlinear transformations

Two issues that are fundamental to developing autonomous intelligent robots, namely, rudimentary learning capability and dexterous manipulation, are examined. A powerful neural learning formalism is introduced for addressing a large class of nonlinear mapping problems, including redundant manipulator inverse kinematics, commonly encountered during the design of real-time adaptive control mechanisms. Artificial neural networks with terminal attractor dynamics are used. The rapid network convergence resulting from the infinite local stability of these attractors allows the development of fast neural learning algorithms. Approaches to manipulator inverse kinematics are reviewed, the neurodynamics model is discussed, and the neural learning algorithm is presented.

Barhen, Jacob↗
NASA NTRS1991

Finite-element analysis and multibody dynamics issues in rotorcraft dynamic analysis

There is general agreement that the development of effective rotorcraft analysis software will require the use of modern computational mechanics methodologies, especially finite element analysis and multibody dynamics. This paper examines the analysis of rotorcraft dynamics from the perspective of these methodologies. First, a general discussion of rotorcraft analysis and modeling is presented. Then, a hierarchy of rotorcraft analyses is presented, ranging from simple to complex kinematics, where it is shown that in comprehensive rotorcraft software, finite element analysis must be augmented by multibody dynamics in order to properly analyze large motions of rotorcraft components. Finally, a review of multibody dynamics is presented to further familiarize the rotorcraft community with this technology.

Ruzicka, Gene C.↗
DOE OSTI2023

Galactic Bar Resonances with Diffusion: An Analytic Model with Implications for Bar–Dark Matter Halo Dynamical Friction

Abstract The secular evolution of disk galaxies is largely driven by resonances between the orbits of “particles” (stars or dark matter) and the rotation of non-axisymmetric features (spiral arms or a bar). Such resonances may also explain kinematic and photometric features observed in the Milky Way and external galaxies. In simplified cases, these resonant interactions are well understood: for instance, the dynamics of a test particle trapped near a resonance of a steadily rotating bar is easily analyzed using the angle-action tools pioneered by Binney, Monari, and others. However, such treatments do not address the stochasticity and messiness inherent to real galaxies—effects that have, with few exceptions, been previously explored only with complex N -body simulations. In this paper, we propose a simple kinetic equation describing the distribution function of particles near an orbital resonance with a rigidly rotating bar, allowing for diffusion of the particles’ slow actions. We solve this equation for various values of the dimensionless diffusion strength Δ, and then apply our theory to the calculation of bar–halo dynamical friction. For Δ = 0, we recover the classic result of Tremaine and Weinberg that friction ultimately vanishes, owing to the phase mixing of resonant orbits. However, for Δ > 0, we find that diffusion suppresses phase mixing, leading to a finite torque. Our results suggest that stochasticity—be it physical or numerical—tends to increase bar–halo friction, and that bars in cosmological simulations might experience significant artificial slowdown, even if the numerical two-body relaxation time is much longer than a Hubble time.

79 ASTRONOMY AND ASTROPHYSICS↗
NASA NTRS1994

On the dynamics of small-scale vorticity in isotropic turbulence

It was previously shown that the strong vorticity in isotropic turbulence is organized into tubular vortices ('worms') whose properties were characterized through the use of full numerical simulations at several Reynolds numbers. At the time most of the observations were kinematic, and several scaling laws were discovered for which there was no theoretical explanation. In the meantime, further analysis of the same fields yielded new information on the generation of the vortices, and it was realized that even if they had to be formed by stretching, they were at any given moment actually compressed at many points of their axes. This apparent contradiction was partially explained by postulating axial inertial waves induced by the nonuniformity of the vortex cores, which helped to 'spread' the axial strain and allowed the vortices to remain compact even if not uniformly stretched. The existence of such solutions was recently proved numerically. The present report discusses a set of new numerical simulations of isotropic turbulence, and a reanalysis of the old ones, in an effort to prove or disprove the presence of these waves in actual turbulent flows and to understand the dynamics, as opposed to the kinematics, of the vortices.

Jimenez, Javier↗
NASA NTRS1993

Consistency of spherical, gravity-dominated dynamics with quasar high-ionization emission-line profiles

Line profile data are used to test a simple kinematic model - spherically symmetric gravitational free fall - in which the number of free parameters is limited by requiring physical self-consistency. The predictions of this model are fitted to high-resolution spectra of the stronger rest-frame UV emission lines in 12 quasars with z of about 2. It is found that if all the lines are radiated predominantly from the illuminated faces of the emission-line clouds, the profiles of Ly-alpha, N V 1240 A, and C IV 1549 A can be simultaneously well fitted with very similar parameters for all 12 quasars. It is concluded that spherically symmetric gravitational free fall does not correctly describe the dynamics of quasar broad emission-line regions.

Kallman, T. R.↗
NASA NTRS1987

An optimal resolved rate law for kindematically redundant manipulators

The resolved rate law for a manipulator provides the instantaneous joint rates required to satisfy a given instantaneous hand motion. When the joint space has more degrees of freedom than the task space, the manipulator is kinematically redundant and the kinematic rate equations are underdetermined. These equations can be locally optimized, but the resulting pseudo-inverse solution was found to cause large joint rates in some case. A weighting matrix in the locally optimized (pseudo-inverse) solution is dynamically adjusted to control the joint motion as desired. Joint reach limit avoidance is demonstrated in a kinematically redundant planar arm model. The treatment is applicable to redundant manipulators with any number of revolute joints and to nonplanar manipulators.

Bourgeois, B. J.↗
DOE OSTI2023

Identifying and characterizing ultracool dwarfs ejected from post-encounter disintegrating systems

ABSTRACT Disintegrating multiple systems have been previously discovered from kinematic studies of the Hipparcos catalogue. They are presumably the result of dynamical encounters taking place in the Galactic disc between single/multiple systems. In this paper, we aim to expand the search for such systems, to study their properties, as well as to characterize possible low-mass ejecta (i.e. brown dwarfs and planets). We have assembled a list of 15 candidate systems using astrometry from the Tycho-Gaia astrometric solution (later upgraded with Gaia DR3), and here we present the discovery and follow-up of five of them. We have obtained DECam imaging for all five systems and by combining near-infrared photometry and proper motion, we searched for ultracool ejected components. We find that the system consisting of TYC 7731-1951-1, TYC 7731-2128 AB, and TYC 7731-1995-1ABC?, contains one very promising ultracool dwarf candidate. Using additional data from the literature, we have found that three out of five disintegrating system candidates are likely to be true disintegrating systems.

Astronomy & Astrophysics↗
DOE OSTI2021

Final Targeting Strategy for the Sloan Digital Sky Survey IV Apache Point Observatory Galactic Evolution Experiment 2 North Survey

The Apache Point Observatory Galactic Evolution Experiment 2 (APOGEE-2) is a dual-hemisphere, near-infrared (NIR), spectroscopic survey with the goal of producing a chemodynamical mapping of the Milky Way. The targeting for APOGEE-2 is complex and has evolved with time. In this paper, we present the updates and additions to the initial targeting strategy for APOGEE-2N presented in Zasowski et al. (2017). These modifications come in two implementation modes: (i) “Ancillary Science Programs” competitively awarded to Sloan Digital Sky Survey IV PIs through proposal calls in 2015 and 2017 for the pursuit of new scientific avenues outside the main survey, and (ii) an effective 1.5 yr expansion of the survey, known as the Bright Time Extension (BTX), made possible through accrued efficiency gains over the first years of the APOGEE-2N project. For the 23 distinct ancillary programs, we provide descriptions of the scientific aims, target selection, and how to identify these targets within the APOGEE-2 sample. The BTX permitted changes to the main survey strategy, the inclusion of new programs in response to scientific discoveries or to exploit major new data sets not available at the outset of the survey design, and expansions of existing programs to enhance their scientific success and reach. After describing the motivations, implementation, and assessment of these programs, we also leave a summary of lessons learned from nearly a decade of APOGEE-1 and APOGEE-2 survey operations. Finally, a companion paper, F. Santana et al. (submitted; AAS29036), provides a complementary presentation of targeting modifications relevant to APOGEE-2 operations in the Southern Hemisphere.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2021

Final Targeting Strategy for the SDSS-IV APOGEE-2S Survey

APOGEE is a high-resolution (R ~ 22,000), near-infrared, multi-epoch, spectroscopic survey of the Milky Way. The second generation of the APOGEE project, APOGEE-2, includes an expansion of the survey to the Southern Hemisphere called APOGEE-2S. This expansion enabled APOGEE to perform a fully panoramic mapping of all of the main regions of the Milky Way; in particular, by operating in the H band, APOGEE is uniquely able to probe the dust-hidden inner regions of the Milky Way that are best accessed from the Southern Hemisphere. In this paper we present the targeting strategy of APOGEE-2S, with special attention to documenting modifications to the original, previously published plan. The motivation for these changes is explained as well as an assessment of their effectiveness in achieving their intended scientific objective. In anticipation of this being the last paper detailing APOGEE targeting, we present an accounting of all such information complete through the end of the APOGEE-2S project; this includes several main survey programs dedicated to exploration of major stellar populations and regions of the Milky Way, as well as a full list of programs contributing to the APOGEE database through allocations of observing time by the Chilean National Time Allocation Committee and the Carnegie Institution for Science. This work was presented along with a companion article, Beaton et al. (2021), presenting the final target selection strategy adopted for APOGEE-2 in the Northern Hemisphere.

79 ASTRONOMY AND ASTROPHYSICS↗
NASA NTRS1988

Globally stable control laws for the attitude maneuver problem - Tracking control and adaptive control

An approach using a globally nonsingular representation is proposed for the attitude control problem of a rigid body. The attitude dynamics are described by the nonlinear Euler equation together with the nonlinear kinematic equations which relate a representation of attitude to the angular velocity of the body. When this approach is combined with an energy-motivated Lyapunov function, a large class of globally stable attitude control laws can be derived. This class includes model-independent tracking control, model-dependent tracking control, and adaptive control, allowing tradeoffs between controller complexity, attainable performance, and available model information.

Wen, John T.↗
NASA NTRS1990

X-ray emission from reverse-shocked ejecta in supernova remnants

A simple physical model of the dynamics of a young supernova remnant is used to derive a straightforward kinematical description of the reverse shock. With suitable approximations, formulae can then be developed to give the X-ray emission of the reverse-shocked ejecta. The results are found to agree favorably with observations of SN1006.

Cioffi, Denis F.↗
NASA NTRS1987

An optimal resolved rate law for kinematically redundant manipulators

The resolved rate law for a manipulator provides the instantaneous joint rates required to satisfy a given instantaneous hand motion. When the joint space has more degrees of freedom than the task space, the manipulator is kinematically redundant and the kinematic rate equations are underdetermined. These equations can be locally optimized, but the resulting pseudo-inverse solution has been found to cause large joint rates in some cases. A weighting matrix in the locally optimized (pseudo-inverse) solution is dynamically adjusted to control the joint motion as desired. Joint reach limit avoidance is demonstrated in a kinematically redundant planar arm model. The treatment is applicable to redundant manipulators with any number of revolute joints and to non-planar manipulators.

Bourgeois, B. J.↗
DOE OSTI2022

On-shell correlators and color-kinematics duality in curved symmetric spacetimes

We define a perturbatively calculable quantity — the on-shell correlator — which furnishes a unified description of particle dynamics in curved spacetime. Specializing to the case of flat and anti-de Sitter space, on-shell correlators coincide precisely with on-shell scattering amplitudes and boundary correlators, respectively. Remarkably, we find that symmetric manifolds admit a generalization of on-shell kinematics in which the corresponding momenta are literally the isometry generators of the spacetime acting on the external kinematic data. These isometric momenta are intrinsically non-commutative but exhibit on-shell conditions that are identical to those of flat space, thus providing a common language for computing and representing on-shell correlators which is agnostic about the underlying geometry. Afterwards, we compute tree-level on-shell correlators for biadjoint scalar (BAS) theory and the nonlinear sigma model (NLSM) and learn that color-kinematics duality is manifested at the level of fields under a mapping of the color algebra to the algebra of gauged isometries on the spacetime manifold. Last but not least, we present a field theoretic derivation of the fundamental BCJ relations for on-shell correlators following from the existence of certain conserved currents in BAS theory and the NLSM.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2023

Cooperative Merging Speed Planning: A Vehicle-Dynamics-Free Method

Various cooperative merging control strategies at on-ramp have been proposed in the last decade. Approximated vehicle longitudinal motion models, e.g., kinematics model, have been broadly adopted for controller synthesis because of their simplicity. However, what appears problematic is that the models used for controller validation remain, in many cases, the same as the ones used for controller design. Indeed, actual vehicle dynamics contain rich behaviors that the simplified models cannot fully cover. In this paper, we first demonstrate that the actual vehicle speed can be dissimilar to the reference from a speed planner once vehicle dynamics is considered. Then, we propose two data-driven speed generators agnostic to vehicle dynamics. SUMO/Simulink joint simulations demonstrate that the proposed reference speed planners can successfully merge vehicles with distinct dynamics characteristics by following the desired sequence, speed, and intervehicle distance at the merging point while avoiding collisions.

Wang, Zejiang↗
NASA NTRS2012

The Evolution of Friction Stir Welding Theory at Marshall Space Flight Center

From 1995 to the present the friction stir welding (FSW) process has been under study at Marshall Space Flight Center (MSFC). This is an account of the progressive emergence of a set of conceptual tools beginning with the discovery of the shear surface, wiping metal transfer, and the invention of a kinematic model and making possible a treatment of both metallurgical structure formation and process dynamics in friction stir welding from a unified point of view. It is generally observed that the bulk of the deformation of weld metal around the FSW pin takes place in a very narrow, almost discontinuous zone with high deformation rates characteristic of metal cutting. By 1999 it was realized that this zone could be treated as a shear surface like that in simple metal cutting models. At the shear surface the seam is drawn out and compressed and pressure and flow conditions determine whether or not a sound weld is produced. The discovery of the shear surface was followed by the synthesis of a simple 3- flow kinematic model of the FSW process. Relative to the tool the flow components are: (1) an approaching translational flow at weld speed V, (2) a rotating cylindrical plug flow with the angular velocity of the tool , and (3) a relatively slow ring vortex flow (like a smoke ring) encircling the tool and driven by shoulder scrolls and pin threads. The rotating plug flow picks up an element of weld metal, rotates it around with the tool, and deposits it behind the tool ( wiping metal transfer ); it forms plan section loops in tracers cut through by the tool. Radially inward flow from the ring vortex component retains metal longer in the rotating plug and outward flow expels metal earlier; this interaction forms the looping weld seam trace and the tongue and groove bimetallic weld contour. The radial components of the translational and ring vortex flows introduce parent metal intrusions into the small grained nugget material close to the tool shoulder; if this feature is pronounced, nugget collapse may result. Certain weld features, in particular internal banding seen in transverse section as onion rings and associated surface ridges called tool marks , have long implied an oscillation flow component, but have only recently been attributed in the literature to tool eccentricity. Rotating plug shape, typically a hollow cylinder flared at the end where it sticks to the shoulder, varies as pressure distribution on the tool determines where sticking occurs. Simplified power input estimates balanced against heat loss estimates give reasonable temperature estimates, explain why the power requirement changes hardly at all over a wide range of RPM s, and yield isotherms that seem to fall along boundaries of parameter windows of operation.

Nunes, Arthur C.↗
DOE OSTI2021

Uncovering fossils of the distant Milky Way with UNIONS: NGC 5466 and its stellar stream

ABSTRACT We examine the spatial clustering of blue horizontal branch (BHB) stars from the u-band of the Canada–France Imaging Survey (CFIS, a component of the Ultraviolet Near-Infrared Optical Northern Survey, or UNIONS). All major groupings of stars are associated with previously known satellites, and among these is NGC 5466, a distant (16 kpc) globular cluster. NGC 5466 reportedly possesses a long stellar stream, although no individual members of the stream have previously been identified. Using both BHBs and more numerous red giant branch stars cross-matched to Gaia Data Release 2, we identify extended tidal tails from NGC 5466 that are both spatially and kinematically coherent. Interestingly, we find that this stream does not follow the same path as the previous detection at large distances from the cluster. We trace the stream across 31° of sky and show that it exhibits a very strong distance gradient in the range 10 < Rhelio < 30 kpc. We compare our observations to simple dynamical models of the stream and find that they are able to broadly reproduce the overall path and kinematics. The fact that NGC 5466 is so distant, traces a wide range of Galactic distances, has an identified progenitor, and appears to have recently had an interaction with the Galaxy’s disc makes it a unique test-case for dynamical modelling of the Milky Way.

Jensen, Jaclyn↗
NASA NTRS2002

Hubble Space Telescope Pointing Performance Due to Micro-Dynamic Disturbances from the NICMOS Cryogenic Cooler

The Vibration Admittance Test (VET) was performed to measure the emitted disturbances of the Near Infrared Camera and Multi-Object Spectrometer (NICMOS) Cryogenic Cooler (NCC) in preparation for NCC installation onboard the Hubble Space Telescope (HST) during Servicing Mission 3B (SM3B). Details of the VET ground-test are described, including facility characteristics, sensor complement and configuration, NCC suspension, and background noise measurements. Kinematic equations used to compute NCC mass center displacements and accelerations from raw measurements are presented, and dynamic equations of motion for the NCC VET system are developed and verified using modal test data. A MIMO linear frequency-domain analysis method is used to compute NCC-induced loads and HST boresight jitter from VET measurements. These results are verified by a nonlinear time-domain analysis approach using a high-fidelity structural dynamics and pointing control simulation for HST. NCC emitted acceleration levels not exceeding 35 micro-g rms were measured in the VET and analysis methods herein predict 3.1 milli-areseconds rms jitter for HST on-orbit. Because the NCC is predicted to become the predominant disturbance source for HST, VET results indicate that HST will continue to meet the 7 milli-arcsecond pointing stability mission requirement in the post-SM3B era.

Clapp, Brian R.↗
DOE OSTI2023

Characterization and dynamics of the peculiar stream Jhelum: A tentative role for the Sagittarius dwarf galaxy

Stellar streams are a promising tool to study the Milky Way’s dark matter subhalo population, as interactions with subhalos are expected to leave visible imprints in the streams in the form of substructure. However, there may be other causes of substructure. Here we studied the kinematics and the unusual morphology of the stellar stream Jhelum. Using a combination of ground-based photometry and Gaia EDR3 astrometry, we characterized the morphology of Jhelum. We combined this new data with radial velocities from the literature to perform orbit integrations of the stream in static Galactic potentials. We also carried out N-body simulations in the presence of the Sagittarius dwarf galaxy. The new data reveal a previously unreported tertiary component in the stream, as well as several gaps and a kink-like feature in its narrow component. We find that for a range of realistic Galactic potentials, no single orbit is able to reproduce Jhelum’s radial velocity data entirely. A generic property of the orbital solutions is that they share a similar orbital plane to Sagittarius and this leads to repeated encounters with the stream. Using N-body simulations that include a massive Sagittarius, we explored its effect on Jhelum, and we show that these encounters are able to qualitatively reproduce the narrow and broad components in Jhelum, as well as create a tertiary component in some cases. We also find evidence that such encounters can result in an apparent increase in the velocity dispersion of the stream by a factor up to four due to overlapping narrow and broad components. Our findings suggest that the Jhelum stream is even more complex than once thought; however, its morphology and kinematics can tentatively be explained via the interactions with Sagittarius. In this scenario, the formation of Jhelum’s narrow and broad components occurs naturally, yet some of the smaller gap-like features remain to be explained.

79 ASTRONOMY AND ASTROPHYSICS↗