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Results for “Kinematics and dynamics”

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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NASA NTRS1991

Ultramassive (about 10 to the 11th solar mass) dark core in the luminous infrared galaxy NGC 6240?

The first complete kinematic maps for the superluminous IR galaxy NGC 6240 are reported. The data reveal two dynamical disks that exhibit radically different rotation and are closely spaced in velocity and position. One disk is roughly aligned with the major axis of the near-IR continuum and exhibits flat rotation out to about 20 arsec in radius, centered on the doubled nucleus seen at optical, near-IR, and radio wavelengths. The rotation turns over at r(t1) roughly 7.2 arcsec with a peak-to-peak velocity amplitude of roughly 280/sin i1 km/s, where i1 is the disk inclination. The rotation curve of the second disk comprises an unresolved or marginally resolved central velocity gradient with a peak-to-peak amplitude of roughly 800/sin i2 km/s within r(t2) of 2.5 arcsec, and a faster than Keplerian dropoff outside r(t2). The peak rotation implies a compact mass M2 greater than 4.5 x 10 to the 10th solar mass/sin-squared i2 within a radius of 1.2 kpc.

Bland-Hawthorn, Jonathan↗

NASA NTRS1991

Theoretical description of spectral line profiles of parent molecules in cometary comae

The present overview of cometary spectral-line profiles obtainable through advancements in high-resolution spectroscopic studies, which allow the retrieval of coma kinematic properties from velocity-resolved spectral-line profiles, incorporates the most important gas dynamic processes into an outflow model which is tailored to the interpretation of spectroscopic observations of parent molecules. The model is then used to study the influence on parent-molecule spectral line profile formation of the field-of-view, the expansion velocity, the kinetic temperature, and the anisotropic outflow distributions.

Hu, Hong-Yao↗

NASA NTRS1992

Use of symbolic computation in robotics education

An application of symbolic computation in robotics education is described. A software package is presented which combines generality, user interaction, and user-friendliness with the systematic usage of symbolic computation and artificial intelligence techniques. The software utilizes MACSYMA, a LISP-based symbolic algebra language, to automatically generate closed-form expressions representing forward and inverse kinematics solutions, the Jacobian transformation matrices, robot pose error-compensation models equations, and Lagrange dynamics formulation for N degree-of-freedom, open chain robotic manipulators. The goal of such a package is to aid faculty and students in the robotics course by removing burdensome tasks of mathematical manipulations. The software package has been successfully tested for its accuracy using commercially available robots.

Vira, Naren↗

NASA NTRS2000

Biomimetic Flow Control

Biologic flight has undoubtedly intrigued man for thousands of years, yet it has been only the last 100 years or so that any serious challenge has been mounted to the pre-eminence of birds. Although present-day large-scale aircraft are now clearly able to fly higher, faster and farther than any bird or insect, it is obvious that these biological creatures have a mastery of low Reynolds number, unsteady flows that is unrivaled by man-made systems. This paper suggests that biological flight should be examined for mechanisms that may apply to engineered flight systems, especially in the emerging field of small-scale, uninhabited aerial vehicles (UAV). This paper discusses the kinematics and aerodynamics of bird and insect flight, including some aspects of unsteady aerodynamics. The dynamics of flapping wing flight is briefly examined, including gait selection, flapping frequency and amplitude selection, as well as wing planform and angle-of-attack dynamics. Unsteady aerodynamic mechanisms as practiced by small birds and insects are reviewed. Drag reduction morphologies of birds and marine animals are discussed and fruitful areas of research are suggested.

Anders, John B.↗

DOE OSTI2023

Signatures of Cooper pair dynamics and quantum-critical superconductivity in tunable carrier bands

Different superconducting pairing mechanisms are markedly distinct in the underlying Cooper pair kinematics. Quantum-critical soft modes drive pairing interactions in which the pair scattering processes are highly collinear and can be classified into two categories: forward scattering and backscattering. Conversely, in conventional phonon mechanisms, Cooper pair scattering is of a generic noncollinear character. In this study, we present a method to discern the kinematic type by observing the evolution of superconductivity while adjusting the Fermi surface geometry. To demonstrate our approach, we utilize the recently reported phase diagrams of untwisted graphene multilayers. Our analysis connects the emergence of superconductivity at “ghost crossings” of Fermi surfaces in distinct valleys to the pair kinematics of a backscattering type. Together with the observed nonmonotonic behavior of superconductivity near its onset (sharp rise followed by a drop), it lends strong support to a particular quantum-critical superconductivity scenario in which pairing is driven by intervalley coherence fluctuations. These findings offer direct insights into the genesis of pairing in these systems, providing compelling evidence for the electron–electron interactions driving superconductivity. More broadly, our work highlights the potential of tuning bands via ghost crossings as a promising means of boosting superconductivity.

75 CONDENSED MATTER PHYSICS, SUPERCONDUCTIVITY AND↗

DOE OSTI2021

NGC 6845 Revisited: Stellar Kinematics on the Early Type Member Galaxies

We observed the compact group of galaxies NGC 6845 with GMOS-S imaging and long-slit spectroscopy. The group itself is comprised of two spiral galaxies and two S0 galaxies, and shows signs of gravitational interaction among them. While the spiral galaxies have been already well studied, the two S0 galaxies have received little attention. We investigate the morphology and stellar kinematics of the two S0 galaxies in detail in order to derive the value for their mass and subsequently incorporate them into the mass model for the group. It was found that the internal kinematics of the largest S0 (NGC 6845 C) is mostly regular, while the smallest S0 (NGC 6845 D) shows some hint of interaction, most likely with NGC 6845 C and NGC 6845 A. The new determination of the dynamical mass of the group implies that the group mass has to be 10 times the combined mass of the individual members according to their internal kinematics. The results point to an early stage of the group interaction and also to the possibility that it has still not reached virial equilibrium. From the galaxy evolution viewpoint, this group represents an example of the case of the transformation of Spirals into S0 galaxies in dense environments.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

DOE OSTI2025

Effective field theory factorization for diffraction

We derive a factorization formula for coherent and incoherent ep diffraction using the soft collinear effective theory, utilizing multiple power expansion parameters to handle different kinematic regions. This goes beyond the known hard-collinear diffractive factorization to address the small-x Regge dynamics and Pomeron exchange from first principles. The effective field theory analysis also uncovers and factorizes an important irreducible incoherent background generated by color-nonsinglet exchange, dubbed “quasi-diffraction”, for which we calculate the associated Sudakov suppression. For unpolarized scattering we show that there are four diffractive structure functions at leading power, and point out the importance of studying ${F}_{3,4}^D$ through asymmetries, in addition to ${F}_{2,L}^D$. For the quasi-diffractive background, we make model independent predictions for ratios of the corresponding structure functions in a perturbative kinematic region. Our analysis also makes predictions for six leading-power spin-dependent structure functions. Finally, we provide connections to diffractive parton distributions, and assess the Ingelman-Schlein model. Our work lays a path for further QCD-based studies of diffraction.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

DOE OSTI2024

The role of driver head pose dynamics and instantaneous driving in safety critical events: Application of computer vision in naturalistic driving

This paper investigates the role of driver behavior especially head pose dynamics in safety–critical events (SCEs). Using a large dataset collected in a naturalistic driving study, this paper analyzes the head pose dynamics and driving behavior in moments leading up to crashes or near-crashes. The study uses advanced computer vision and mixed logit modeling techniques to identify patterns and relationships between drivers’ head pose dynamics and crash involvement. The results suggest that driver-head pose dynamics, especially poses that indicate distraction and movement volatility, are important factors that can contribute to undesirable safety outcomes. Marginal effects show that angular deviation for head pose dynamics indicated by yaw, pitch and roll increase the likelihood of crash intensity by 4.56%, 4.92% and 8.26% respectively. Furthermore, traffic flow and lane changing also contribute to increase in likelihood of crash intensity. These findings provide new insights into pre-crash factors, especially human factors and safety–critical events. The study highlights the importance of considering human factors in designing driver assistance systems and developing safer vehicles. This research contributes by examining naturalistic driving data at the microscopic level with early detection of behaviors that lead to SCEs and provides a basis for future research on automation.

33 ADVANCED PROPULSION SYSTEMS↗

DOE OSTI2022

Estimate of the Mass and Radial Profile of the Orphan–Chenab Stream's Dwarf-galaxy Progenitor Using MilkyWay@home

We fit the mass and radial profile of the Orphan–Chenab Stream's (OCS) dwarf-galaxy progenitor by using turnoff stars in the Sloan Digital Sky Survey and the Dark Energy Camera to constrain N-body simulations of the OCS progenitor falling into the Milky Way on the 1.5 PetaFLOPS MilkyWay@home distributed supercomputer. We infer the internal structure of the OCS's progenitor under the assumption that it was a spherically symmetric dwarf galaxy composed of a stellar system embedded in an extended dark matter halo. We optimize the evolution time, the baryonic and dark matter scale radii, and the baryonic and dark matter masses of the progenitor using a differential evolution algorithm. The likelihood score for each set of parameters is determined by comparing the simulated tidal stream to the angular distribution of OCS stars observed in the sky. We fit the total mass of the OCS's progenitor to (2.0 ± 0.3) × 10 7 M ⊙ with a mass-to-light ratio of γ = 73.5 ± 10.6 and (1.1 ± 0.2) × 10 6 M ⊙ within 300 pc of its center. Within the progenitor's half-light radius, we estimate a total mass of (4.0 ± 1.0) × 10 5 M ⊙ . We also fit the current sky position of the progenitor's remnant to be (α, δ) = ((166.0 ± 0.9)°, (–11.1 ± 2.5)°) and show that it is gravitationally unbound at the present time. The measured progenitor mass is on the low end of previous measurements and, if confirmed, lowers the mass range of ultrafaint dwarf galaxies. Our optimization assumes a fixed Milky Way potential, OCS orbit, and radial profile for the progenitor, ignoring the impact of the Large Magellanic Cloud.

79 ASTRONOMY AND ASTROPHYSICS↗

NASA NTRS1976

Collected Works of Robert T. Jones

Fluid dynamic principles are applied to airfoil stability and control problems, blood pump studies, and in relativistic kinematics.

Aeronautics↗

NASA NTRS1990

A dynamic motion simulator for future European docking systems

Europe's first confrontation with docking in space will require extensive testing to verify design and performance and to qualify hardware. For this purpose, a Docking Dynamics Test Facility (DDTF) was developed. It allows reproduction on the ground of the same impact loads and relative motion dynamics which would occur in space during docking. It uses a 9 degree of freedom, servo-motion system, controlled by a real time computer, which simulates the docking spacecraft in a zero-g environment. The test technique involves and active loop based on six axis force and torque detection, a mathematical simulation of individual spacecraft dynamics, and a 9 degree of freedom servomotion of which 3 DOFs allow extension of the kinematic range to 5 m. The configuration was checked out by closed loop tests involving spacecraft control models and real sensor hardware. The test facility at present has an extensive configuration that allows evaluation of both proximity control and docking systems. It provides a versatile tool to verify system design, hardware items and performance capabilities in the ongoing HERMES and COLUMBUS programs. The test system is described and its capabilities are summarized.

Brondino, G.↗

NASA NTRS1990

A mixed element for laminated plates and shells

Formulation and numerical evaluation of a simple shear-flexible four-noded quadrilateral laminated composite plate/shell finite-element is presented. The element developed is based on a generalized mixed variational principle with independently assumed displacement and laminate internal strain fields. For the latter, a layer-number-independent polynomial interpolation is utilized, together with a judicious selection of the in-plane (spanwise) distributions for the strain components. This was facilitated by the use of a set of bubble functions as additional kinematic degrees of freedom, which was shown to be crucial for eliminating the locking phenomenon. For dynamic applications, a simplified lumped mass matrix is employed. Finally, an extensive number of critical test cases are given to access the element's preformance and to illustrate its effectiveness in static as well as vibration problems for anisotropic laminated plates and shells.

Wilt, T. E.↗

NASA NTRS1990

Validation of a flight simulation model of the AH-64 Apache attack helicopter against flight test data

The FLYRT simulation model of the U.S. Army/McDonnell Douglas AH-64 Apache attack helicopter is validated against flight test data. The approach used for validation involves matching static trim attitudes and control positions and driving the model with measured control time histories to compare dynamic responses such as angular rates and normal acceleration. Flight test data is processed to determine kinematic consistency in the angular degrees of freedom. Modeling problems associated with aerodynamic interaction of the main rotor wake on the horizontal stabilator and engine response timing are identified. Appropriate model updates are made which result in good overall model correlation throughout the flight regime investigated.

Harding, J. W.↗

NASA NTRS1990

Computing maximum tracking error due to payload dynamics

The determination of maximum endpoint tracking error due to uncompensated inertial payload dynamics is investigated. The problem is formulated on the basis of well-known kinetic and kinematic relationships with constraints on maximum joint positions and velocities as well as the generalized force/speed constraint relationship for each actuator. An endpoint tracking error objective function is formed, and numerical optimization is used to determine the maximum. An example computation is presented to show the tracking error under progressively increasing payload using a PUMA 560 manipulator with its first three joints in motion.

Kelkar, Atul G.↗

NASA NTRS2016

Fast Kalman Filtering for Relative Spacecraft Position and Attitude Estimation for the Raven ISS Hosted Payload

The Raven ISS Hosted Payload will feature several pose measurement sensors on a pan/tilt gimbal which will be used to autonomously track resupply vehicles as they approach and depart the International Space Station. This paper discusses the derivation of a Relative Navigation Filter (RNF) to fuse measurements from the different pose measurement sensors to produce relative position and attitude estimates. The RNF relies on relative translation and orientation kinematics and careful pose sensor modeling to eliminate dependence on orbital position information and associated orbital dynamics models. The filter state is augmented with sensor biases to provide a mechanism for the filter to estimate and mitigate the offset between the measurements from different pose sensors.

estimation↗

NASA NTRS2016

Fast Kalman Filtering for Relative Spacecraft Position and Attitude Estimation for the Raven ISS Hosted Payload

estimation↗

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 NTRS2023

Modeling and Simulation of the Angel Upper Limb Offload Device: Branching Into New Methods

BACKGROUND: The Active Response Gravity Offload System (ARGOS) provides an analog environment for extravehicular activity (EVA) testing and training. Discomfort has been observed during longer suited test sessions. While the subject’s core is offloaded during surface EVA evaluations, his/her arms experience full Earth gravity and can become overly fatigued, especially during suited tests which involve reaching and prolonged arm extensions. A device (ARGOS Negation of Gravitational Effects on the Limbs: ANGEL) to offload the weight of the arms and suit sleeves is being developed by JSC’s Flight Systems Branch of the Software, Robotics, and Simulation Division. Previously we have shared preliminary modeling of that device and kinematics based on motion capture data. Here we present an alternative approach to determine device kinematics by calculating ANGEL component angles with an OpenSim plugin. We compare calculated angles to inverse kinematics (IK) derived ones with the goal of validating the model. This new method can be further informative for device design and analytically testing different configurations to achieve desired reduced gravity conditions (e.g., lunar gravity (Lg) or Martian gravity (Mg)). We have compared calculated angles with IK-derived angles in tests with a shirt-sleeve subject positioned in a test stand with a Mark-III Hard Upper Torso (HUT) and Portable Life Support System (PLSS) mockup and arm weights to emulate the weight of the suit sleeve as well as a suited subject in ARGOS with a Mark-III suit. A variety of upper body tasks were completed in the former and full-body tasks in the latter. METHODS AND RESULTS: To model the offload device, we augment the OpenSim human model topology with the offload mechanism components and joints, using CAD models to represent the mechanism graphically. The joint angles of the device are calculated in the OpenSim plugin by modeling how the components configure themselves under the offloading spring tension given a particular IK-derived arm position. There are four ANGEL components with a total of 5 degrees of freedom (DOFs), each component has a single DOF except for the cuff which is modeled as 2 DOFs. The sickle/yaw bracket and cuff rotation angles are determined statically based on the assumptions that the sickle will track the attachment point of the cuff and that the cuff will rotate such that the attachment point is at its highest point. The cuff tilt, linker and V-bracket angles are then determined by optimizing their positions to approach a mechanical equilibrium. The calculated linker angle is compared to three different methods of determining the linker line-of-force kinematically (from V-bracket to center-cuff, cuff highest point or marker-derived position). Given the joint angles of the device, the spring force and resulting force on the arm is computed by the plugin and applied as an external load in inverse dynamics (ID) to enable study of overall shoulder joint torques as well as offload achieved. We verify the calculated joint angles by using the inverse kinematic data. The average difference in angles is the smallest for the V-bracket and linker, around 1 to 5 degrees for most trials. The resulting offload and shoulder torque are comparable between calculated and IK-derived angles. In summary, we have developed a method to calculate the joint angles of an exoskeleton-like upper limb offloading device currently in development. We have also developed a custom plugin which will be a valuable tool to optimize device configurations for a desired gravitational environment, probe the offload achieved for motions recorded outside of our test suite, and inform future design improvements.

L B Nilsson↗