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At least 55 records · Page 3
All sourcesNASA NTRSDOE OSTI
DOE OSTI2021

The completed SDSS-IV extended Baryon Oscillation Spectroscopic Survey: N-body mock challenge for the eBOSS emission line galaxy sample

ABSTRACT Cosmological growth can be measured in the redshift space clustering of galaxies targeted by spectroscopic surveys. Accurate prediction of clustering of galaxies will require understanding galaxy physics, which is a very hard and highly non-linear problem. Approximate models of redshift space distortion (RSD) take a perturbative approach to solve the evolution of dark matter and galaxies in the universe. In this paper, we focus on extended Baryon Oscillation Spectroscopic (eBOSS) emission line galaxies (ELGs) that live in intermediate mass haloes. We create a series of mock catalogues using haloes from the Multidark and outer rim dark matter only N-body simulations. Our mock catalogues include various effects inspired by baryonic physics such as assembly bias and the characteristics of satellite galaxies kinematics, dynamics, and statistics deviating from dark matter particles. We analyse these mocks using the TNS RSD model in Fourier space and the convolution Lagrangian perturbation theory (CLPT) in configuration space. We conclude that these two RSD models provide an unbiased measurement of RSD within the statistical error of our mocks. We obtain the conservative theoretical systematic uncertainty of $3.3{{\ \rm per\ cent}}$, $1.8{{\ \rm per\ cent}}$, and $1.5{{\ \rm per\ cent}}$ in fσ8, α∥, and α⊥, respectively, for the TNS and CLPT models. We note that the estimated theoretical systematic error is an order of magnitude smaller than the statistical error of the eBOSS ELG sample and hence are negligible for the purpose of the current eBOSS ELG analysis.

Alam, Shadab↗
NASA NTRS1988

Development of automation and robotics for space via computer graphic simulation methods

A robot simulation system, has been developed to perform automation and robotics system design studies. The system uses a procedure-oriented solid modeling language to produce a model of the robotic mechanism. The simulator generates the kinematics, inverse kinematics, dynamics, control, and real-time graphic simulations needed to evaluate the performance of the model. Simulation examples are presented, including simulation of the Space Station and the design of telerobotics for the Orbital Maneuvering Vehicle.

Fernandez, Ken↗
NASA NTRS1989

Software systems for modeling articulated figures

Research in computer animation and simulation of human task performance requires sophisticated geometric modeling and user interface tools. The software for a research environment should present the programmer with a powerful but flexible substrate of facilities for displaying and manipulating geometric objects, yet insure that future tools have a consistent and friendly user interface. Jack is a system which provides a flexible and extensible programmer and user interface for displaying and manipulating complex geometric figures, particularly human figures in a 3D working environment. It is a basic software framework for high-performance Silicon Graphics IRIS workstations for modeling and manipulating geometric objects in a general but powerful way. It provides a consistent and user-friendly interface across various applications in computer animation and simulation of human task performance. Currently, Jack provides input and control for applications including lighting specification and image rendering, anthropometric modeling, figure positioning, inverse kinematics, dynamic simulation, and keyframe animation.

Phillips, Cary B.↗
NASA NTRS1989

Characterization of robotics parallel algorithms and mapping onto a reconfigurable SIMD machine

The kinematics, dynamics, Jacobian, and their corresponding inverse computations are six essential problems in the control of robot manipulators. Efficient parallel algorithms for these computations are discussed and analyzed. Their characteristics are identified and a scheme on the mapping of these algorithms to a reconfigurable parallel architecture is presented. Based on the characteristics including type of parallelism, degree of parallelism, uniformity of the operations, fundamental operations, data dependencies, and communication requirement, it is shown that most of the algorithms for robotic computations possess highly regular properties and some common structures, especially the linear recursive structure. Moreover, they are well-suited to be implemented on a single-instruction-stream multiple-data-stream (SIMD) computer with reconfigurable interconnection network. The model of a reconfigurable dual network SIMD machine with internal direct feedback is introduced. A systematic procedure internal direct feedback is introduced. A systematic procedure to map these computations to the proposed machine is presented. A new scheduling problem for SIMD machines is investigated and a heuristic algorithm, called neighborhood scheduling, that reorders the processing sequence of subtasks to reduce the communication time is described. Mapping results of a benchmark algorithm are illustrated and discussed.

Lee, C. S. G.↗
NASA NTRS1989

Control strategy for cooperating disparate manipulators

To manipulate large payloads typical of space construction, the concept of a small arm mounted on the end of a large arm is introduced. The main purposes of such a configuration are to increase the structural stiffness of the robot by bracing against or locking to a stationary frame, and to maintain a firm position constraint between the robot's base and workpieces by grasping them. Possible topologies for a combination of disparate large and small arms are discussed, and kinematics, dynamics, controls, and coordination of the two arms, especially when they brace at the tip of the small arm, are developed. The feasibility and improvement in performance are verified, not only with analytical work and simulation results but also with experiments on the existing arrangement Robotic Arm Large and Flexible and Small Articulated Manipulator.

Lew, Jae Young↗
NASA NTRS1989

Design of a monitor and simulation terminal (master) for space station telerobotics and telescience

Based on Space Station and planetary spacecraft communication time delays and bandwidth limitations, it will be necessary to develop an intelligent, general purpose ground monitor terminal capable of sophisticated data display and control of on-orbit facilities and remote spacecraft. The basic elements that make up a Monitor and Simulation Terminal (MASTER) include computer overlay video, data compression, forward simulation, mission resource optimization and high level robotic control. Hardware and software elements of a MASTER are being assembled for testbed use. Applications of Neural Networks (NNs) to some key functions of a MASTER are also discussed. These functions are overlay graphics adjustment, object correlation and kinematic-dynamic characterization of the manipulator.

Lopez, L.↗
NASA NTRS1989

Proceedings of the NASA Conference on Space Telerobotics, volume 4

Papers presented at the NASA Conference on Space Telerobotics are compiled. The theme of the conference was man-machine collaboration in space. The conference provided a forum for researchers and engineers to exchange ideas on the research and development required for the application of telerobotic technology to the space systems planned for the 1990's and beyond. Volume 4 contains papers related to the following subject areas: manipulator control; telemanipulation; flight experiments (systems and simulators); sensor-based planning; robot kinematics, dynamics, and control; robot task planning and assembly; and research activities at the NASA Langley Research Center.

Rodriguez, Guillermo↗
NASA NTRS1989

Kinematics and control algorithm development and simulation for a redundant two-arm robotic manipulator system

An efficient approach to cartesian motion and force control of a 7 degree of freedom (DOF) manipulator is presented. It is based on extending the active stiffness controller to the 7 DOF case in general and use of an efficient version of the gradient projection technique for solving the inverse kinematics problem. Cooperative control is achieved through appropriate configuration of individual manipulator controllers. In addition, other aspects of trajectory generation using standard techniques are integrated into the controller. The method is then applied to a specific manipulator of interest (Robotics Research T-710). Simulation of the kinematics, dynamics, and control are provided in the context of several scenarios: one pertaining to a noncontact pick and place operation; one relating to contour following where contact is made between the manipulator and environment; and one pertaining to cooperative control.

Hennessey, Michael P.↗
NASA NTRS1991

Applications of fuzzy theories to multi-objective system optimization

Most of the computer aided design techniques developed so far deal with the optimization of a single objective function over the feasible design space. However, there often exist several engineering design problems which require a simultaneous consideration of several objective functions. This work presents several techniques of multiobjective optimization. In addition, a new formulation, based on fuzzy theories, is also introduced for the solution of multiobjective system optimization problems. The fuzzy formulation is useful in dealing with systems which are described imprecisely using fuzzy terms such as, 'sufficiently large', 'very strong', or 'satisfactory'. The proposed theory translates the imprecise linguistic statements and multiple objectives into equivalent crisp mathematical statements using fuzzy logic. The effectiveness of all the methodologies and theories presented is illustrated by formulating and solving two different engineering design problems. The first one involves the flight trajectory optimization and the main rotor design of helicopters. The second one is concerned with the integrated kinematic-dynamic synthesis of planar mechanisms. The use and effectiveness of nonlinear membership functions in fuzzy formulation is also demonstrated. The numerical results indicate that the fuzzy formulation could yield results which are qualitatively different from those provided by the crisp formulation. It is felt that the fuzzy formulation will handle real life design problems on a more rational basis.

Rao, S. S.↗
NASA NTRS1990

A unified motion planning approach for redundant and non-redundant manipulators with actuator constraints

The term trajectory planning has been used to refer to the process of determining the time history of joint trajectory of each joint variable corresponding to a specified trajectory of the end effector. The trajectory planning problem was solved as a purely kinematic problem. The drawback is that there is no guarantee that the actuators can deliver the effort necessary to track the planned trajectory. To overcome this limitation, a motion planning approach which addresses the kinematics, dynamics, and feedback control of a manipulator in a unified framework was developed. Actuator constraints are taken into account explicitly and a priori in the synthesis of the feedback control law. Therefore the result of applying the motion planning approach described is not only the determination of the entire set of joint trajectories but also a complete specification of the feedback control strategy which would yield these joint trajectories without violating actuator constraints. The effectiveness of the unified motion planning approach is demonstrated on two problems which are of practical interest in manipulator robotics.

Chung, Ching-Luan↗
NASA NTRS1992

Brightness temperature simulations for the physical interpretation of AMSU moisture channels

The use of the Advanced Microwave Sounding Unit (AMSU) moisture imagery for the dynamic, kinematic, and synoptic interpretations requires the availability of idealized 'soundings' of temperature, water vapor, and cloudiness as input to a radiative transfer model for determining how atmospheric conditions control the top-of-atmosphere brightness temperatures. This paper uses idealized vertical configurations of atmospheric water vapor and liquid cloud water to illustrate their effects on the AMSU moisture channels. Calculations with various cloud-drop size distribution functions (SDFs) showed that, at least for the specific SDFs used in this work, the Rayleigh approximation is invalid for mode radii greater than 30-40 microns, for frequencies above 89.0 GHz. It is also invalid above about 20 microns for frequencies above 157 GHz. It is concluded that AMSU moisture channels might not be suitable for detecting convective instability over land using image-based approaches.

Muller, Bradley M.↗
NASA NTRS2002

Space Operations Analysis Using the Synergistic Engineering Environment

The Synergistic Engineering Environment has been under development at the NASA Langley Research Center to aid in the understanding of the operations of spacecraft. This is accomplished through the integration of multiple data sets, analysis tools, spacecraft geometric models, and a visualization environment to create an interactive virtual simulation of the spacecraft. Initially designed to support the needs of the International Space Station, the SEE has broadened the scope to include spacecraft ranging from low-earth orbit to deep space missions. Analysis capabilities within the SEE include rigid body dynamics, kinematics, orbital mechanics, and payload operations. This provides the user the ability to perform real-time interactive engineering analyses in areas including flight attitudes and maneuvers, visiting vehicle docking scenarios, robotic operations, plume impingement, field of view obscuration, and alternative assembly configurations. The SEE has been used to aid in the understanding of several operational procedures related to the International Space Station. This paper will address the capabilities of the first build of the SEE, present several use cases of the SEE, and discuss the next build of the SEE.

Angster, Scott↗
NASA NTRS2006

The Synergistic Engineering Environment

The Synergistic Engineering Environment (SEE) is a system of software dedicated to aiding the understanding of space mission operations. The SEE can integrate disparate sets of data with analytical capabilities, geometric models of spacecraft, and a visualization environment, all contributing to the creation of an interactive simulation of spacecraft. Initially designed to satisfy needs pertaining to the International Space Station, the SEE has been broadened in scope to include spacecraft ranging from those in low orbit around the Earth to those on deep-space missions. The SEE includes analytical capabilities in rigid-body dynamics, kinematics, orbital mechanics, and payload operations. These capabilities enable a user to perform real-time interactive engineering analyses focusing on diverse aspects of operations, including flight attitudes and maneuvers, docking of visiting spacecraft, robotic operations, impingement of spacecraft-engine exhaust plumes, obscuration of instrumentation fields of view, communications, and alternative assembly configurations. .

Cruz, Jonathan↗
NASA NTRS2023

Type II Radio Bursts and Their Association With Coronal Mass Ejections in Solar Cycles 23 and 24

Context. Meter-wavelength type II solar radio bursts are thought to be the signatures of shock-accelerated electrons in the corona. Studying these bursts can give information about the initial kinematics, dynamics, and energetics of coronal mass ejections (CMEs) in the absence of white-light observations. Aims. We investigate the occurrence of type II bursts in solar cycles 23 and 24 and their association with CMEs. We also explore whether type II bursts might occur in the absence of a CME. Methods. We performed a statistical analysis of type II bursts that occurred between 200 and 25 MHz in solar cycles 23 and 24 and determined the temporal association of these radio bursts with CMEs. We categorized the CMEs based on their linear speed and angular width and studied the distribution of type II bursts with fast (≥500 km s−1 ), slow (<500 km s−1), wide (≥60◦), and narrow (<60◦) CMEs. We explored the dependence of type II bursts occurrence on the phases of the solar cycle. Results. Our analysis shows that during solar cycles 23 and 24, 768 and 435 type II bursts occurred, respectively. Of these, 79% were associated with CMEs in solar cycle 23, and 95% were associated with CMEs in solar cycle 24. However, only 4% and 3% of the total number of CMEs were accompanied by type II bursts in solar cycle 23 and 24, respectively. Most of the type II bursts in both cycles were related to fast and wide CMEs (48%). We also determined the typical drift rate and duration for type II bursts, which is 0.06 MHz s−1 and 9 min. Our results suggest that type II bursts dominate at heights ≈1.7−2.3±0.3 R . A clear majority have an onset height around 1.7 ± 0.3 R assuming the four-fold Newkirk model. Conclusions. The results indicate that most of the type II bursts had a white-light CME counterpart, but a few type II bursts lacked a clear CME association. There were more CMEs in cycle 24 than in cycle 23. However, cycle 24 contained fewer type II radio bursts than cycle 23. The onset heights of type II bursts and their association with wide CMEs reported in this study indicate that the early lateral expansion of CMEs may play a key role in the generation of these radio bursts.

Sun: activity↗
NASA NTRS1986

Gibbs vector kinematics and inverse dynamics for decoupled spacecraft attitude maneuvers

By use of Gibbs vectors as kinematic variables, multi-axial spacecraft equations of rotational motion are shown to be globally and rationally feedback-equivalent to a set of unconstrained and decoupled harmonic oscillators, driven by generalized acceleration commands. Advantages over alternative formulations with Euler angles and quaternions are pointed out.

Dwyer, T. A. W., III↗
NASA NTRS1990

Geographically correlated orbit error for the Topex satellite using GPS tracking

This paper reports on ongoing investigations of geographically correlated orbit error performed in support of precise orbit determination for the Topex/Poseidon mission. Tracking data is assumed to be generated with the Global Positioning System. Geographically correlated orbit error due to errors in modeling the gravity field is described and demonstrated. A method for rational selection of the gravity model coefficients which produce significant orbit error is also presented. The effects of these coefficient errors and other error sources is evaluated using a consider covariance approach. Finally, the covariance analysis is used to evaluate the orbit accuracy for Topex using dynamic, reduced dynamic, and kinematic GPS tracking. The reduced dynamic and kinematic approaches to orbit determination are found to have significant advantages with respect to reducing the level of geographically correlated orbit errors.

Rosborough, George↗
NASA NTRS1989

Modeling of control forces for kinematical constraints in the dynamics of multibody systems: A new approach

Conventionally kinematical constraints in multibody systems are treated similar to geometrical constraints and are modeled by constraint reaction forces which are perpendicular to constraint surfaces. However, in reality, one may want to achieve the desired kinematical conditions by control forces having different directions in relation to the constraint surfaces. The conventional equations of motion for multibody systems subject to kinematical constraints are generalized by introducing general direction control forces. Conditions for the selections of the control force directions are also discussed. A redundant robotic system subject to prescribed end-effector motion is analyzed to illustrate the methods proposed.

Ider, Sitki Kemal↗
NASA NTRS1990

Constraint treatment techniques and parallel algorithms for multibody dynamic analysis

Computational procedures for kinematic and dynamic analysis of three-dimensional multibody dynamic (MBD) systems are developed from the differential-algebraic equations (DAE's) viewpoint. Constraint violations during the time integration process are minimized and penalty constraint stabilization techniques and partitioning schemes are developed. The governing equations of motion, a two-stage staggered explicit-implicit numerical algorithm, are treated which takes advantage of a partitioned solution procedure. A robust and parallelizable integration algorithm is developed. This algorithm uses a two-stage staggered central difference algorithm to integrate the translational coordinates and the angular velocities. The angular orientations of bodies in MBD systems are then obtained by using an implicit algorithm via the kinematic relationship between Euler parameters and angular velocities. It is shown that the combination of the present solution procedures yields a computationally more accurate solution. To speed up the computational procedures, parallel implementation of the present constraint treatment techniques, the two-stage staggered explicit-implicit numerical algorithm was efficiently carried out. The DAE's and the constraint treatment techniques were transformed into arrowhead matrices to which Schur complement form was derived. By fully exploiting the sparse matrix structural analysis techniques, a parallel preconditioned conjugate gradient numerical algorithm is used to solve the systems equations written in Schur complement form. A software testbed was designed and implemented in both sequential and parallel computers. This testbed was used to demonstrate the robustness and efficiency of the constraint treatment techniques, the accuracy of the two-stage staggered explicit-implicit numerical algorithm, and the speed up of the Schur-complement-based parallel preconditioned conjugate gradient algorithm on a parallel computer.

Chiou, Jin-Chern↗