Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “Bounded motion”

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.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 55 records · Page 3

Geometric remapping of particle distributions in the Discrete Element Model for Sea Ice (DEMSI v0.0)

Abstract. A new sea ice dynamical core, the Discrete Element Model for Sea Ice (DEMSI), is under development for use in coupled Earth system models. DEMSI is based on the discrete element method, which models collections of ice floes as interacting Lagrangian particles. In basin-scale sea ice simulations the Lagrangian motion results in significant convergence and ridging, which requires periodic remapping of sea ice variables from a deformed particle configuration back to an undeformed initial distribution. At the resolution required for Earth system models we cannot resolve individual sea ice floes, so we adopt the sub-grid-scale thickness distribution used in continuum sea ice models. This choice leads to a series of hierarchical tracers depending on ice fractional area or concentration that must be remapped consistently. The circular discrete elements employed in DEMSI help improve the computational efficiency at the cost of increased complexity in the effective element area definitions for sea ice cover that are required for the accurate enforcement of conservation. An additional challenge is the accurate remapping of element values along the ice edge, the location of which varies due to the Lagrangian motion of the particles. In this paper we describe a particle-to-particle remapping approach based on well-established geometric remapping ideas that enforces conservation, bounds preservation, and compatibility between associated tracer quantities, while also robustly managing remapping at the ice edge. One element of the remapping algorithm is a novel optimization-based flux correction that enforces concentration bounds in the case of nonuniform motion. We demonstrate the accuracy and utility of the algorithm in a series of numerical test cases.

58 GEOSCIENCES↗

Investigation of the equatorial orographic-dynamic mechanism applying the bounded derivative method

A system of equations which describe the motion of a barotropic fluid in the presence of bottom topography are presented. The mathematical expression for orography is developed and the bounded derivative initialization method is applied to suppress gravitational oscillations. A stationary orographic trough is simulated. The geopotential and zonal motion have maximum deviation from the mean state at the top of the mountain. Regarding meridional speed, outflow occurs on the windward slope and inflow on the leeward slope. Divergence of order (10(-6)s(-1) is found on the windward slope while convergence of the same order of magnitude resides on the leeward slope. This outcome may have interesting implications regarding real climatology occurring over the equatorial regions of continental land masses.

Semazzi, F. H. M.↗

Investigation of empirical damping laws for the space shuttle

An analysis of dynamic test data from vibration testing of a number of aerospace vehicles was made to develop an empirical structural damping law. A systematic attempt was made to fit dissipated energy/cycle to combinations of all dynamic variables. The best-fit laws for bending, torsion, and longitudinal motion are given, with error bounds. A discussion and estimate are made of error sources. Programs are developed for predicting equivalent linear structural damping coefficients and finding the response of nonlinearly damped structures.

Bernstein, E. L.↗

Gyro motion boundedness under uncertain vehicle spin and acceleration

Using a quadratic Liapunov function, a condition is obtained for the boundedness of the motion of the gyro mounted in a vehicle which has a time-varying uncertain angular acceleration and deceleration omega-x(t) about the output axis, and is spinning with uncertain angular velocity omega-z(t) about the spin axis of the gyro. A region of ultimate boundedness in the theta-theta plane is obtained which the motion of the gyro eventually enters and in which it remains after a finite interval of time for any uncertain omega-x(t) and omega-z(t). The gyro motion is shown to be bounded if the uncertainty in the spin velocity does not exceed a certain threshold value. This condition disappears if omega-z(t) = 0.

Singh, S. N.↗

Evidence for transonic flows in the solar granulation

High-resolution observations of the solar granulation are interpreted in the light of recent numerical simulations of compressible convection. The observations show a negative correlation between the width of suitably chosen, nonmagnetic lines and the continuum intensity. This result is consistent with a model of granular convection where regions of supersonic horizontal flow form intermittently in the vicinity of the downflow lanes. We conjecture that the observed line broadening in the regions of low intensity is caused by enhanced turbulent fluctuations generated by the passage of shock fronts bounding the regions of supersonic motion.

Nesis, A.↗

Direct Imaging Discovery of A Super-Jupiter Around the Late B-Type Star K And*

We present the direct imaging discovery of an extrasolar planet, or possible low-mass brown dwarf, at a projected separation of 55 plus or minus 2 AU (1."058 plus or minus 0."007) from the B9-type star K And. The planet was detected with Subaru/HiCIAO (Subaru/High Contrast Instrument for the Subaru Next Generation Adaptive Optics) during the SEEDS (Strategic Exploration of Exoplanets and Disks with Subaru Telescope/HiCIAO) survey and confirmed as a bound companion via common proper motion measurements. Observed near-infrared magnitudes of J equals 16.3 plus or minus 0.3, H equals 15.2 plus or minus 0.2, K (sub s) = 14.6 plus or minus 0.4, and L prime equals 13.12 plus or minus 0.09 indicate a temperature of approximately 1700 degrees Kelvin. The galactic kinematics of the host star are consistent with membership in the Columba Association, implying a corresponding age of 30 (exp from plus 20 to minus10) Myr. The systems age, combined with the companion photometry, points to a model-dependent companion mass approximately 12.8 times the mass of Jupiter. The host stars estimated mass of 2.4 to 2.5 times the mass of the sun places it among the most massive stars ever known to harbor an extrasolar planet or low-mass brown dwarf. While the mass of the companion is close to the deuterium burning limit, its mass ratio, orbital separation, and likely planet-like formation scenario imply that it may be best defined as a super-Jupiter with properties similar to other recently discovered companions to massive stars.

HiCIAO↗

Stokes problems for moving half-planes

New exact solutions of the Navier-Stokes equations are obtained for the unbounded and bounded oscillatory and impulsive tangential edgewise motion of touching half-infinite plates in their own plane. In contrast to Stokes classical solutions for the harmonic and impulsive motion of an infinite plane wall, where the solutions are separable or have a simple similarity form, the present solutions have a two-dimensional structure in the near region of the contact between the half-infinite plates. Nevertheless, it is possible to obtain relatively simple closed-form solutions for the flow field in each case by defining new variables which greatly simplify the r- and theta- dependence of the solutions in the vicinity of the contact region. These solutions for flow in a half-infinite space are then extended to bounded flows in a channel using an image superposition technique. The impulsive motion has application to the motion near geophysical faults, whereas the oscillatory motion has arisen in the design of a novel oscillating half-plate flow chamber for examining the effect of fluid shear stress on cultured cell monolayers.

NASA Discipline Musculoskeletal↗

Unsteady vortex lattice techniques applied to wake formation and performance of the statically thrusting propeller

The application is considered of vortex lattice techniques to the problem of describing the aerodynamics and performance of statically thrusting propellers. A numerical lifting surface theory to predict the aerodynamic forces and power is performed. The chordwise and spanwise loading is modelled by bound vortices fixed to a twisted flat plate surface. In order to eliminate any apriori assumptions regarding the wake shape, it is assumed the propeller starts from rest. The wake is generated in time and allowed to deform under its own self-induced velocity field as the motion of the propeller progresses. The bound circulation distribution is then determined with time by applying the flow tangency boundary condition at certain selected control points on the blades. The aerodynamics of the infinite wing and finite wing are also considered. The details of wake formation and roll-up are investigated, particularly the localized induction effect. It is concluded that proper wake roll-up and roll-up rates can be established by considering the details of motion at the instant of start.

Hall, G. F.↗

Time optimal control of manipulators with bounded accelerations

The linearity of the equations of motion of dynamical systems such as spacecraft or manipulators when controlled by acceleration commands is exploited in generating exact fast maneuvers. A simulated robot example thereof is examined, with advantages and limitations of the proposed design approach discussed in its context.

Dwyer, T. A. W., III↗

Submilliarcsecond astrometry via VLBI. I - Relative position of the radio sources 3C 345 and NRAO 512

The relative position and relative proper motion of the radio sources 3C 345 and NRAO 512 are estimated from four sets of VLBI observations spread out over the period from October 1971 to May 1974. The use of phase-connection techniques yields the separation, in 1950.0 coordinates, of the centers of brightness of the compact components of the two sources. An upper bound of 0.0005 arcsec/yr is placed on the relative proper motion (70% estimated confidence limits). Bounds that can be placed on the distances to the two sources are considered, prospects for improvement in the determination of relative position and proper motion of these sources are discussed, and other possible applications of the basic technique are described.

Shapiro, I. I.↗

A kinematic model of southern California

A kinematic model for southern California, based on late-Quaternary slip rates and orientations of major faults in the region, is proposed. Internally consistent motions are determined assuming that these faults bound rigid blocks. Relative to North America, most of California west of the San Andreas fault is moving parallel to the San Andreas fault through the Transverse Ranges and not parallel to the motion of the Pacific plate. The velocities of the blocks are calculated along several paths in southern California that begin in the Mojave Desert and end off the California coast. A path that crosses the western Transverse Ranges accumulates the accepted relative North America-Pacific plate velocity, whereas paths to the north and south result in a significant missing component of motion, implying the existence of a zone of active deformation in southern California.

Weldon, R.↗

HD 143811 AB b: A Directly Imaged Planet Orbiting a Spectroscopic Binary in Sco-Cen

We present confirmation of HD 143811 AB b, a substellar companion to spectroscopic binary HD 143811 AB through direct imaging with the Gemini Planet Imager (GPI) and Keck NIRC2. HD 143811 AB was observed as a part of the GPI Exoplanet Survey in 2016 and 2019 and is a member of the Sco-Cen star formation region. The exoplanet is detected ∼430 mas from the host star by GPI. With two GPI epochs and one from Keck/NIRC2 in 2022, we confirm through common proper motion analysis that the object is bound to its host star. We derive an orbit with a semimajor axis of $64^{+32}_{-14}$ au and eccentricity $0.23^{+0.24}_{-0.16}$. Spectral analysis of the GPI H-band spectrum and NIRC2 L′ photometry provides additional proof that this object is a substellar companion. We compare the spectrum of HD 143811 AB b to PHOENIX stellar models and Exo-Radioactive-Convective Equilibrium Model (REM) exoplanet atmosphere models and find that Exo-REM models provide the best fits to the data. From the Exo-REM models, we derive an effective temperature of $1042^{+178}_{-132}$ K for the planet and translate the derived luminosity of the planet to a mass of 5.6 ± 1.1 M Jup assuming hot-start evolutionary models. HD 143811 AB b is the first directly imaged planet around a binary that is not on an ultrawide orbit. Future characterization of this object will shed light on the formation of planets around binary star systems.

Astronomy and AstroPhysics↗

Quadrature solution for the general relativistic motion of a satellite or a planet.

The general relativistic motion of a particle in a bounded orbit around a central mass M is derived with the aid of the Schwarzschild field of M. A quadrature gives the central angle as a quasi-periodic function of an effective true anomaly. The mean rate of advance of the pericenter is investigated. Classical and general relativistic orbiters with the same initial conditions are compared, taking into account the treatment of the general relativistic effect by means of a differential correction. General relativistic variations are discussed, giving attention to the variation of the eccentric anomaly and the variation of the central angle.

Vinti, J. P.↗

Computational structures for robotic computations

The computational problem of inverse kinematics and inverse dynamics of robot manipulators by taking advantage of parallelism and pipelining architectures is discussed. For the computation of inverse kinematic position solution, a maximum pipelined CORDIC architecture has been designed based on a functional decomposition of the closed-form joint equations. For the inverse dynamics computation, an efficient p-fold parallel algorithm to overcome the recurrence problem of the Newton-Euler equations of motion to achieve the time lower bound of O(log sub 2 n) has also been developed.

Lee, C. S. G.↗

Global models: Robot sensing, control, and sensory-motor skills

Robotics research has begun to address the modeling and implementation of a wide variety of unstructured tasks. Examples include automated navigation, platform servicing, custom fabrication and repair, deployment and recovery, and science exploration. Such tasks are poorly described at onset; the workspace layout is partially unfamiliar, and the task control sequence is only qualitatively characterized. The robot must model the workspace, plan detailed physical actions from qualitative goals, and adapt its instantaneous control regimes to unpredicted events. Developing robust representations and computational approaches for these sensing, planning, and control functions is a major challenge. The underlying domain constraints are very general, and seem to offer little guidance for well-bounded approximation of object shape and motion, manipulation postures and trajectories, and the like. This generalized modeling problem is discussed, with an emphasis on the role of sensing. It is also discussed that unstructured tasks often have, in fact, a high degree of underlying physical symmetry, and such implicit knowledge should be drawn on to model task performance strategies in a methodological fashion. A group-theoretic decomposition of the workspace organization, task goals, and their admissible interactions are proposed. This group-mechanical approach to task representation helps to clarify the functional interplay of perception and control, in essence, describing what perception is specifically for, versus how it is generically modeled. One also gains insight how perception might logically evolve in response to needs of more complex motor skills. It is discussed why, of the many solutions that are often mathematically admissible to a given sensory motor-coordination problem, one may be preferred over others.

Schenker, Paul S.↗

Air motions accompanying the development of a planetary wave critical layer

The horizontal air motions accompanying the development of a planetary wave critical layer are presently investigated on the sphere, in terms of wave amplitude, the characteristics of the zonal flow, and dissipation. While attention is given to adiabatic motions, which should furnish an upper bound on the redistribution of conserved quantities by eddy stirring, nonconservative processes may be important in determining how large a role eddy stirring actually plays in the redistribution of atmospheric constituents. Nonconservative processes may also influence tracer distributions by directly affecting dynamics.

Salby, Murry L.↗

Adaptive control of space based robot manipulators

For space based robots in which the base is free to move, motion planning and control is complicated by uncertainties in the inertial properties of the manipulator and its load. A new adaptive control method is presented for space based robots which achieves globally stable trajectory tracking in the presence of uncertainties in the inertial parameters of the system. A partition is made of the fifteen degree of freedom system dynamics into two parts: a nine degree of freedom invertible portion and a six degree of freedom noninvertible portion. The controller is then designed to achieve trajectory tracking of the invertible portion of the system. This portion consist of the manipulator joint positions and the orientation of the base. The motion of the noninvertible portion is bounded, but unpredictable. This portion consist of the position of the robot's base and the position of the reaction wheel.

Walker, Michael W.↗

Adaptive control of space-based robot manipulators

A control method is presented that achieves globally stable trajectory tracking in the presence of uncertainties in the inertial parameters of the system. The 15-DOF system dynamics are divided into two components: a 9-DOF invertible portion and 6-DOF noninvertible portion. A controller is then designed to achieve trajectory tracking of the invertible portion of the system, which consists of the manipulator-joint positions and the orientation of the base. The motion of the noninvertible portion is bounded but otherwise unspecified. This portion of the system consists of the position of the robot's base and the position of the reaction wheels. A simulation is presented to demonstrate the effectiveness of the controller. A quadratic polynomial is used to generate the desired trajectory to illustrate the trajectory-tracking capability of the controller.

Walker, Michael W.↗