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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.

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

dlmcfpt.c1

The DLMC VAP uses inertial data from the ARM NAV system to transform the Doppler lidar beam angles (az and el) from the lidar's frame of reference to an Earth-fixed frame such the azimuth angle is measured clockwise from true north and the elevation angle is measured from the local horizon. Additionally, the VAP compensates the observed radial (air) velocity data for the effects of the platform velocity (i.e. corrected_radial_velocity = observed_radial_velocity-platform_radial_velocity). The VAP was developed specifically for MOSAiC. The dlmcfpt.c1 product contains the fixed point, or staring data. The dlmcusr.c1 product contains a user defined scan which is anything the operator wants it to be.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2021

dlmcusr.c1

The DLMC VAP uses inertial data from the ARM NAV system to transform the Doppler lidar beam angles (az and el) from the lidar's frame of reference to an Earth-fixed frame such the azimuth angle is measured clockwise from true north and the elevation angle is measured from the local horizon. Additionally, the VAP compensates the observed radial (air) velocity data for the effects of the platform velocity (i.e. corrected_radial_velocity = observed_radial_velocity-platform_radial_velocity). The VAP was developed specifically for MOSAiC. The dlmcfpt.c1 product contains the fixed point, or staring data. The dlmcusr.c1 product contains a user defined scan which is anything the operator wants it to be.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1989

Nonlinear strain-displacement relations and flexible multibody dynamics

Dynamics of chains of flexible bodies undergoing large rigid body motions, but small elastic deflections are considered. The role of nonlinear strain-displacement relations in the development of the motion equations correct to first order in elastic deflections is investigated. The general form of these equations linearized only in the small elastic deflections is presented, and the relative significance of various nonlinear terms is studied both analytically and through the use of the numerical simulations. Numerical simulations are performed for a two link chain constrained to move in the plane, subject to hinge torques. Each link is modeled as a thin beam. Slew maneuver simulation results are compared for models with and without properly modeled kinematics of deformation. The goal of this case study is to quantify the importance of the terms in the equations of motion which arise from the inclusion of nonlinear strain-displacement relations. It is concluded that unless the consistently linearized equations in elastic deflections and speeds are available and necessary, the inconsistently (prematurely) linearized equations should be replaced in all cases by ruthlessly linearized equations: equations in which all nonlinear terms involving the elastic deflections and speeds are ignored.

Padilla, Carlos E.↗
DOE OSTI2022

Monte Carlo Simulation and Reconstruction: Assessment of Myocardial Perfusion Imaging of Tracer Dynamics With Cardiac Motion Due to Deformation and Respiration Using Gamma Camera With Continuous Acquisition

Purpose: Myocardial perfusion imaging (MPI) with single photon emission computed tomography (SPECT) is routinely used for stress testing in nuclear medicine. Recently, our group extended its potential going from 3D visual qualitative image analysis to 4D spatiotemporal reconstruction of dynamically acquired data to capture the time variation of the radiotracer concentration and the estimated myocardial blood flow (MBF) and coronary flow reserve (CFR). However, the quality of reconstructed image is compromised due to cardiac deformation and respiration. The work presented here develops an algorithm that reconstructs the dynamic sequence of separate respiratory and cardiac phases and evaluates the algorithm with data simulated with a Monte Carlo simulation for the continuous image acquisition and processing with a slowly rotating SPECT camera. Methods: A clinically realistic Monte Carlo (MC) simulation is developed using the 4D Extended Cardiac Torso (XCAT) digital phantom with respiratory and cardiac motion to model continuous data acquisition of dynamic cardiac SPECT with slowly rotating gamma cameras by incorporating deformation and displacement of the myocardium due to cardiac and respiratory motion. We extended our previously developed 4D maximum-likelihood expectation-maximization (MLEM) reconstruction algorithm for a data set binned from a continuous list mode (LM) simulation with cardiac and respiratory information. Our spatiotemporal image reconstruction uses splines to explicitly model the temporal change of the tracer for each cardiac and respiratory gate that delineates the myocardial spatial position as the tracer washes in and out. Unlike in a fully list-mode data acquisition and reconstruction the accumulated photons are binned over a specific but very short time interval corresponding to each cardiac and respiratory gate. Reconstruction results are presented showing the dynamics of the tracer in the myocardium as it continuously deforms. These results are then compared with the conventional 4D spatiotemporal reconstruction method that models only the temporal changes of the tracer activity. Mean Stabilized Activity (MSA), signal to noise ratio (SNR) and Bias for the myocardium activities for three different target-to-background ratios (TBRs) are evaluated. Dynamic quantitative indices such as wash-in (K1) and wash-out (k2) rates at each gate were also estimated. Results: The MSA and SNR are higher with higher TBRs while biases were improved with higher TBRs to less than 10%. The correlation between exhalation-inhalation sequence with the ground truth during respiratory cycle was excellent. Our reconstruction method showed better resolved myocardial walls during diastole to systole as compared to the ungated 4D image. Estimated values of K1 and k2 were also consistent with the ground truth. Conclusion: The continuous image acquisition for dynamic scan using conventional two-head gamma cameras can provide valuable information for MPI. Our study demonstrated the viability of using a continuous image acquisition method on a widely used clinical two-head SPECT system. Our reconstruction method showed better resolved myocardial walls during diastole to systole as compared to the ungated 4D image. Precise implementation of reconstruction algorithms, better segmentation techniques by generating images of different tissue types and background activity would improve the feasibility of the method in real clinical environment.

60 APPLIED LIFE SCIENCES↗
NASA NTRS1981

The prediction of normal force and rolling moment coefficients for a spinning wing

Nonlinear airfoil section data for angles of attack from 0 to 180 deg were used in a small computer code to numerically integrate the section normal force coefficients along the span as a function of the local velocity and angle of attack resulting from the combined spinning and descending motion. A correction was developed to account for the radial pressure gradient in the separated, rotating flow region above the wing. This correction was found to be necessary in order to obtain agreement, both in form and magnitude, with rotary balance test data.

Mccormick, B. W.↗
NASA NTRS1981

Pinhole-coronograph tracking control

The pinhole occulter system, a space shuttle based experiment for the production of hard X-ray images taken primarily from the Sun is described. The system is a pinhole camera utilizing a deployable 50 m flexible boom for separating the pinhole from the recording devices located in the shuttle. The system is subjected to the disturbances of the shuttle. The worst of these are thruster firing for orbit correction, man motion, motion induced by other systems, and gravity gradient torques. The control system of the pointing mount senses both position and velocity of the mask tip and uses these to estimate accurately the flexible modes of the system.

Greene, M.↗
NASA NTRS1985

On the orientation of ephemeris reference frames

Precession corrections, equinox motions and locations, and obliquities for the FK4 are determined from laser-ranging data only by the ephemeris-fitting method of Standish (1982) and compared with those calculated by Fricke (1971 and 1982) from optical observations. The theoretical basis of the comparison is explained, and the results are presented in a table. No significant differences are found in the equinox offset and equinox motion values, and good agreement is found in the equinox location. The ephemeris-fitting obliquity values are shown to be consistent to within 10 marcsec and to be about 20 marcsec lower than the optical values.

Standish, E. M., Jr.↗
NASA NTRS1989

On the dynamic singularities in the control of free-floating space manipulators

It is shown that free-floating space manipulator systems have configurations which are dynamically singular. At a dynamically singular position, the manipulator is unable to move its end effector in some direction. This problem appears in any free-floating space manipulator system that permits the vehicle to move in response to manipulator motion without correction from the vehicle's attitude control system. Dynamic singularities are functions of the dynamic properties of the system; their existence and locations cannot be predicted solely from the kinematic structure of the manipulator, unlike the singularities for fixed base manipulators. It is also shown that the location of these dynamic singularities in the workplace is dependent upon the path taken by the manipulator in reaching them. Dynamic singularities must be considered in the control, planning and design of free-floating space manipulator systems. A method for calculating these dynamic singularities is presented, and it is shown that the system parameters can be selected to reduce the effect of dynamic singularities on a system's performance.

Papadopoulos, E.↗
NASA NTRS1990

Nonlinear slew maneuver dynamics of large flexible spacecrafts

In this paper, the dynamics of three-dimensional, large-angle arbitrary slew maneuvers of a large flexible spacecraft are developed. The dynamical equations obtained allow maneuver specifications about any axis and are highly nonlinear. They also include coupling between the rigid orbiter and the flexible appendage and correction for motion stiffness. A decentralized control scheme is utilized for performing the maneuver of the rigidized body and for vibration suppression of the flexible appendage. The method developed in this paper is further applied to NASA Spacecraft Control Laboratory Experiment (SCOLE) test facility.

Kakad, Y. P.↗
NASA NTRS1993

Stress stiffening and approximate equations in flexible multibody dynamics

A useful model for open chains of flexible bodies undergoing large rigid body motions, but small elastic deformations, is one in which the equations of motion are linearized in the small elastic deformations and deformation rates. For slow rigid body motions, the correctly linearized, or consistent, set of equations can be compared to prematurely linearized, or inconsistent, equations and to 'oversimplified,' or ruthless, equations through the use of open loop dynamic simulations. It has been shown that the inconsistent model should never be used, while the ruthless model should be used whenever possible. The consistent and inconsistent models differ by stress stiffening terms. These are due to zeroth-order stresses effecting virtual work via nonlinear strain-displacement terms. In this paper we examine in detail the nature of these stress stiffening terms and conclude that they are significant only when the associated zeroth-order stresses approach 'buckling' stresses. Finally it is emphasized that when the stress stiffening terms are negligible the ruthlessly linearized equations should be used.

Padilla, Carlos E.↗
DOE OSTI2022

A simple improved low temperature correction for the hierarchical equations of motion

The study of open system quantum dynamics has been transformed by the hierarchical equations of motion (HEOM) method, which gives the exact dynamics for a system coupled to a harmonic bath at arbitrary temperature and system–bath coupling strength. However, in its standard form, this method is only consistent with the weak-coupling quantum master equation at all temperatures when many auxiliary density operators are included in the hierarchy, even when low temperature corrections are included. Here, we propose a new low temperature correction scheme for the termination of the hierarchy based on Zwanzig projection, which alleviates this problem and restores consistency with the weak-coupling master equation with a minimal hierarchy. The utility of the new correction scheme is demonstrated on a range of model systems, including the Fenna–Matthews–Olson complex. The new closure is found to improve convergence of the HEOM even beyond the weak-coupling limit and is very straightforward to implement in existing HEOM codes.

Fay, Thomas P. (ORCID:000000030625731X)↗
NASA NTRS1992

Controlling flexible robot arms using a high speed dynamics process

Described here is a robot controller for a flexible manipulator arm having plural bodies connected at respective movable hinges, and flexible in plural deformation modes. It is operated by computing articulated body qualities for each of the bodies from the respective modal spatial influence vectors, obtaining specified body forces for each of the bodies, and computing modal deformation accelerations of the nodes and hinge accelerations of the hinges from the specified body forces, from the articulated body quantities and from the modal spatial influence vectors. In one embodiment of the invention, the controller further operates by comparing the accelerations thus computed to desired manipulator motion to determine a motion discrepancy, and correcting the specified body forces so as to reduce the motion discrepancy. The manipulator bodies and hinges are characterized by respective vectors of deformation and hinge configuration variables. Computing modal deformation accelerations and hinge accelerations is carried out for each of the bodies, beginning with the outermost body by computing a residual body force from a residual body force of a previous body, computing a resultant hinge acceleration from the body force, and then, for each one of the bodies beginning with the innermost body, computing a modal body acceleration from a modal body acceleration of a previous body, computing a modal deformation acceleration and hinge acceleration from the resulting hinge acceleration and from the modal body acceleration.

Jain, Abhinandan↗
NASA NTRS1996

Controlling Flexible Robot Arms Using High Speed Dynamics Process

A robot manipulator controller for a flexible manipulator arm having plural bodies connected at respective movable hinges and flexible in plural deformation modes corresponding to respective modal spatial influence vectors relating deformations of plural spaced nodes of respective bodies to the plural deformation modes, operates by computing articulated body quantities for each of the bodies from respective modal spatial influence vectors, obtaining specified body forces for each of the bodies, and computing modal deformation accelerations of the nodes and hinge accelerations of the hinges from the specified body forces, from the articulated body quantities and from the modal spatial influence vectors. In one embodiment of the invention, the controller further operates by comparing the accelerations thus computed to desired manipulator motion to determine a motion discrepancy, and correcting the specified body forces so as to reduce the motion discrepancy. The manipulator bodies and hinges are characterized by respective vectors of deformation and hinge configuration variables, and computing modal deformation accelerations and hinge accelerations is carried out for each one of the bodies beginning with the outermost body by computing a residual body force from a residual body force of a previous body and from the vector of deformation and hinge configuration variables, computing a resultant hinge acceleration from the body force, the residual body force and the articulated hinge inertia, and revising the residual body force modal body acceleration.

Jain, Abhinandan↗
NASA NTRS1981

Astrolabe observations of Mars

A previously reported bias in the right ascension residuals of astrolabe observations of Mars is removed by correcting for equinox motion and relating the observations to the Jet Propulsion Laboratory's planetary ephemeris, DE111. The remaining residuals show a 'phase effect', the magnitude of which is solved for and compared with that previously found for meridian transit observations. The final residuals reveal no significant offset in either right ascension or declination. In modifying the residuals, use is also made of Fricke's (1980) correction for the motion of the FK 4 equinox.

Standish, E. M.↗
NASA NTRS1997

Applying Space Technology to Enhance Control of an Artificial Arm

At the present time, myoelectric prostheses perform only one function of the hand: open and close with the thumb, index and middle finger coming together to grasp various shaped objects. To better understand the limitations of the current single-function prostheses and the needs of the individuals who use them, The Institute for Rehabilitation and Research (TIRR), sponsored by the National Institutes of Health (August 1992 - November 1994), surveyed approximately 2500 individuals with upper limb loss. When asked to identify specific features of their current electric prosthesis that needed improvement, the survey respondents overwhelmingly identified the lack of wrist and finger movement as well as poor control capability. Simply building a mechanism with individual finger and wrist motion is not enough. Individuals with upper limb loss tend to reject prostheses that require continuous visual monitoring and concentration to control. Robotics researchers at NASA's Johnson Space Center (JSC) and Rice University have made substantial progress in myoelectric teleoperation. A myoelectric teleoperation system translates signals generated by an able-bodied robot operator's muscles during hand motions into commands that drive a robot's hand through identical motions. Farry's early work in myoelectric teleoperation used variations over time in the myoelectric spectrum as inputs to neural networks to discriminate grasp types and thumb motions. The resulting schemes yielded up to 93% correct classification on thumb motions. More recently, Fernandez achieved 100% correct non-realtime classification of thumb abduction, extension, and flexion on the same myoelectric data. Fernandez used genetic programming to develop functions that discriminate between thumb motions using myoelectric signal parameters. Genetic programming (GP) is an evolutionary programming method where the computer can modify the discriminating functions' form to improve its performance, not just adjust numerical coefficients or weights. Although the function development may require much computational time and many training cases, the resulting discrimination functions can run in realtime on modest computers. These results suggest that myoelectric signals might be a feasible teleoperation medium, allowing an operator to use his or her own hand and arm as a master to intuitively control an anthropomorphic robot in a remote location such as outer space.

Atkins, Diane↗
NASA NTRS2009

An Argument Against Augmenting the Lagrangean for Nonholonomic Systems

Although it is known that correct dynamical equations of motion for a nonholonomic system cannot be obtained from a Lagrangean that has been augmented with a sum of the nonholonomic constraint equations weighted with multipliers, previous publications suggest otherwise. An example has been proposed in support of augmentation and purportedly demonstrates that an accepted method fails to produce correct equations of motion whereas augmentation leads to correct equations; this paper shows that in fact the opposite is true. The correct equations, previously discounted on the basis of a flawed application of the Newton-Euler method, are verified by using Kane's method and a new approach to determining the directions of constraint forces. A correct application of the Newton-Euler method reproduces valid equations.

Roithmayr, Carlos M.↗