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At least 559 records · Page 31
All sourcesNASA NTRSDOE OSTI
DOE OSTI2026

Multibody for Everybody (M4E): A Symbolic Dynamics Modeling Tool with Applications in Simulation, Control, and Optimization

Developing the analytical model of a multibody system is often the initial step in control and optimization. The analytical model (equations of motion) describes a system’s time evolution under specified forcing conditions. Although developing these equations is easy for simple systems, this process becomes more complex for systems composed of multiple bodies. Deriving equations of motion for complex multibody systems requires specialized expertise in multibody dynamics, is time-consuming, and is susceptible to error. To address this issue, this paper presents an open-source, easy-to-use, systematic framework to derive symbolic equations of motion in both Python and MATLAB using the joint coordinate formulation. This formulation results in a set of ordinary differential equations that use the minimum set of coordinates needed to model a system. The symbolic representation provides better insight into the influence of design parameters on system performance, facilitates sensitivity analysis and parameter studies, and supports direct implementation of control and optimization routines. The tool enables numerical simulation for specified parameter sets, is modular for straightforward integration with other tools and libraries, and allows incorporation of hydrodynamics, mooring, and other external forces. The result is a reproducible, extensible pipeline for modeling, simulation, and design of complex multibody systems. The proposed tool is versatile and can be applied to domains such as robotics, control, and design. In addition, we integrated external libraries that provide capabilities for modeling offshore systems such as underwater robots and marine energy converters.

16 TIDAL AND WAVE POWER↗
NASA NTRS1985

Transient polar motions and the nature of the asthenosphere for short time scales

A uniformly valid mathematical formalism is developed to study the secular motions of the rotational axis of a layered viscoelastic earth due to seismic excitation. The changes required for implementing the formulation within the framework of the faulting problem. The rationale of adopting the chosen nrheological model, which contains a low-viscosity zone beneath the lithosphere and is based on linear Maxell constitutive relationship, is discussed. The impact of this low-viscosity channel on thhe two families of relaxation time, governing both isostatic readjustment and rotational processes, is considered. It is found that the polar motions depend sensitively on the viscosity structure of the asthenosphere and not at all on the underlying mantle. A gloal low-velocity zone with short-term asthenospheric viscosities less than about 5 x 10 to the 18th Pa-s and widths greater than 50 km is ruled out.

Boschi, E.↗
NASA NTRS1980

An investigation of the cratering-induced motions occurring during the formation of bowl-shaped craters

The effects of the dynamic processes which occur during crater formation were examined using small hemispherical high-explosive charges detonated in a tank which had one wall constructed of a thick piece of clear plexiglas. Crater formation and the motions of numerous tracer particles installed in the cratering medium at the medium-wall interface were viewed through the wall of this quarter-space tank and recorded with high-speed cameras. Subsequent study and analysis of particle motions and events recorded on the film provide data needed to develop a time-sequence description of the formation of a bowl-shaped crater. Tables show the dimensions of craters produced in a quarter-space tank compared with dimensions of craters produced in normal half-space tanks. Crater growth rate summaries are also tabulated.

Piekutowski, A. J.↗
NASA NTRS1992

Study of turbulence structure through numerical simulations: The perspective of drag and reduction

The first part of this note concerns organized structures in the near-wall region of a turbulent boundary layer. A particular emphasis is given to those organized motions believed to be responsible for the turbulence production process in the wall region, and hence, indirectly responsible for the viscous drag. Examples are selected to illustrate how the analyses of numerically generated databases have contributed to improve our understanding of the organized structures of turbulent boundary layers. In the second part, results from an exploratory study based on the direct numerical simulation of the concepts for active control of turbulent boundary layers are presented. A significant drag reduction is achieved when the surface boundary condition is modified such that it could suppress the organized motion in the wall region. This drag reduction is accompanied by a significant reduction in the intensity of the organized structures and in the magnitude of Reynolds stresses throughout the flow.

Kim, J. J.↗
NASA NTRS1975

Some recent developments in predicting unsteady loadings caused by control surface motions

Solution instabilities are identified within the procedures used to predict unsteady loadings due to motions of swept hingeline control surfaces. A preferred solution process that demonstrates the need of calculating smooth residual downwash distributions is described. Numerical results displaying erratic solution behavior when use is made of various forms of pressure expressions currently employed in control surface analyses are presented. A new expression of the asymptotic pressure function is derived, which exactly satisfies the change in boundary conditions around the boundary of the control surface. Results of applying the new pressure function are presented and indicate that stable converged solutions may be achieved for predicting the unsteady loadings caused by motions of swept hingeline control surfaces.

Rowe, W. S.↗
NASA NTRS2010

Data Acquisition and Processing System for Airborne Wind Profiling with a Pulsed, 2-Micron, Coherent-Detection, Doppler Lidar System

A data acquisition and signal processing system is being developed for a 2-micron airborne wind profiling coherent Doppler lidar system. This lidar, called the Doppler Aerosol Wind Lidar (DAWN), is based on a Ho:Tm:LuLiF laser transmitter and 15-cm diameter telescope. It is being packaged for flights onboard the NASA DC-8, with the first flights in the summer of 2010 in support of the NASA Genesis and Rapid Intensification Processes (GRIP) campaign for the study of hurricanes. The data acquisition and processing system is housed in a compact PCI chassis and consists of four components such as a digitizer, a digital signal processing (DSP) module, a video controller, and a serial port controller. The data acquisition and processing software (DAPS) is also being developed to control the system including real-time data analysis and display. The system detects an external 10 Hz trigger pulse and initiates the data acquisition and processing process, and displays selected wind profile parameters such as Doppler shift, power distribution, wind directions and velocities. Doppler shift created by aircraft motion is measured by an inertial navigation/GPS sensor and fed to the signal processing system for real-time removal of aircraft effects from wind measurements. A general overview of the system and the DAPS as well as the coherent Doppler lidar system is presented in this paper.

Beyon, J. Y.↗
NASA NTRS2014

Computer-Aided Design (CAD) Tools to Support the Human Factors Design Teams

The scope of this assessment was to develop a library of basic 1-Gravity (G) human posture and motion elements used to construct complex virtual simulations of ground processing and maintenance tasks for spaceflight vehicles, including launch vehicles, crewed spacecraft, robotic spacecraft, satellites, and other payloads. The report herein describes the task, its purpose, performance, findings, NASA Engineering and Safety Center (NESC) recommendations, and conclusions in the definition and assemblage of the postures and motions database (PMD).

Null, Cynthia H.↗
NASA NTRS2009

Philosophies Applied in the Selection of Space Suit Joint Range of Motion Requirements

Space suits are the most important tool for astronauts working in harsh space and planetary environments; suits keep crewmembers alive and allow them to perform exploration, construction, and scientific tasks on a routine basis over a period of several months. The efficiency with which the tasks are performed is largely dictated by the mobility features of the space suit. For previous space suit development programs, the mobility requirements were written as pure functional mobility requirements that did not separate joint ranges of motion from the joint torques. The Constellation Space Suit Element has the goal to make more quantitative mobility requirements that focused on the individual components of mobility to enable future suit designers to build and test systems more effectively. This paper details the test planning and selection process for the Constellation space suit pressure garment range of motion requirements.

Aitchison, Lindsway↗
NASA NTRS2005

Properties of cerebellar fastigial neurons during translation, rotation, and eye movements

The most medial of the deep cerebellar nuclei, the fastigial nucleus (FN), receives sensory vestibular information and direct inhibition from the cerebellar vermis. We investigated the signal processing in the primate FN by recording single-unit activities during translational motion, rotational motion, and eye movements. Firing rate modulation during horizontal plane translation in the absence of eye movements was observed in all non-eye-movement-sensitive cells and 26% of the pursuit eye-movement-sensitive neurons in the caudal FN. Many non-eye-movement-sensitive cells recorded in the rostral FN of three fascicularis monkeys exhibited convergence of signals from both the otolith organs and the semicircular canals. At low frequencies of translation, the majority of these rostral FN cells changed their firing rates in phase with head velocity rather than linear acceleration. As frequency increased, FN vestibular neurons exhibited a wide range of response dynamics with most cells being characterized by increasing phase leads as a function of frequency. Unlike cells in the vestibular nuclei, none of the rostral FN cells responded to rotational motion alone, without simultaneously exhibiting sensitivity to translational motion. Modulation during earth-horizontal axis rotation was observed in more than half (77%) of the neurons, although with smaller gains than during translation. In contrast, only 47% of the cells changed their firing rates during earth-vertical axis rotations in the absence of a dynamic linear acceleration stimulus. These response properties suggest that the rostral FN represents a main processing center of otolith-driven information for inertial motion detection and spatial orientation.

Non-NASA Center↗
DOE OSTI2020

Demonstrate embedding of sensors in a relevant microreactor component

This report describes the first successful embedding of sensors in stainless steel pipe specimens and a miniature hex block to support structural health monitoring of microreactor components during electrically heated testing in non-nuclear testbed facilities. Sensors were embedded with an ultrasonic additive manufacturing process that uses a combination of downward pressure and an ultrasonic scrubbing motion to bond stainless steel foils to underlying materials. After placing sensors within cavities that have been machined to the size of the sensors, the ultrasonic bonding process fills the gaps around the sensors and embeds them within the part. Both Type K thermocouples and spatially distributed fiber-optic strain sensors were successfully embedded within two pipe specimens and a miniature hex block. After the fiber-optic sensors were embedded, they were interrogated and found to have minimal signal attenuation within the embedded region—a significant improvement compared to previous trials. This is likely because of the low-bend-loss fiber that was used, which greatly reduces microbending losses that occur after the embedding process. In addition to showing minimal signal attention, the fibers also showed adequate compressive strain, which is a strong indication that the sensors are physically embedded in the parts as opposed to simply being loosely contained inside the machined cavities. The embedded fibers were able to capture the strain induced in one of the pipe specimens while the pipe was actively heated with a moving heat source.

42 ENGINEERING↗
NASA NTRS1991

Comparison of motion and stereo methods in passive ranging systems

The authors compare the estimates in passive ranging systems using motion and stereo approaches. It is shown that an integrated approach is necessary to provide better range estimates over a field-of-view (FOV) of interest in helicopter flight. The recursive approach for processing a sequence of stereo images, described together with a recursive motion algorithm (RMA), provides the basis for an integrated method to provide more accurate range information. Results based on motion sequences of stereo images are presented.

Sridhar, Banavar↗
NASA NTRS1995

Sea ice motions in the Central Arctic pack ice as inferred from AVHRR imagery

Synoptic observations of ice motion in the Arctic Basin are currently limited to those acquired by drifting buoys and, more recently, radar data from ERS-1. Buoys are not uniformly distributed throughout the Arctic, and SAR coverage is currently limited regionally and temporally due to the data volume, swath width, processing requirements, and power needs of the SAR. Additional ice-motion observations that can map ice responses simultaneously over large portions of the Arctic on daily to weekly time intervals are thus needed to augment the SAR and buoys data and to provide an intermediate-scale measure of ice drift suitable for climatological analyses and ice modeling. Principal objectives of this project were to: (1) demonstrate whether sufficient ice features and ice motion existed within the consolidated ice pack to permit motion tracking using AVHRR imagery; (2) determine the limits imposed on AVHRR mapping by cloud cover; and (3) test the applicability of AVHRR-derived motions in studies of ice-atmosphere interactions. Each of these main objectives was addressed. We conclude that AVHRR data, particularly when blended with other available observations, provide a valuable data set for studying sea ice processes. In a follow-on project, we are now extending this work to cover larger areas and to address science questions in more detail.

Emery, William↗
NASA NTRS2006

Heat Transfer of Thermocapillary Convection in a Two-Layered Fluid System Under the Influence of Magnetic Field

Heat transfer of a two-layer fluid system has been of great importance in a variety of industrial applications. For example, the phenomena of immiscible fluids can be found in materials processing and heat exchangers. Typically in solidification from a melt, the convective motion is the dominant factor that affects the uniformity of material properties. In the layered flow, thermocapillary forces can come into an important play, which was first emphasized by a previous investigator in 1958. Under extraterrestrial environments without gravity, thermocapillary effects can be a more dominant factor, which alters material properties in processing. Control and optimization of heat transfer in an immiscible fluid system need complete understanding of the flow phenomena that can be induced by surface tension at a fluid interface. The present work is focused on understanding of the magnetic field effects on thermocapillary convection, in order to optimize material processing. That is, it involves the study of the complicated phenomena to alter the flow motion in crystal growth. In this effort, the Marangoni convection in a cavity with differentially heated sidewalls is investigated with and without the influence of a magnetic field. As a first step, numerical analyses are performed, by thoroughly investigating influences of all pertinent physical parameters. Experiments are then conducted, with preliminary results, for comparison with the numerical analyses.

Ramachandran, N.↗
DOE OSTI2020

Direct matter disassembly via electron beam control: electron-beam-mediated catalytic etching of graphene by nanoparticles

Here, we report electron-beam activated motion of a catalytic nanoparticle along a graphene step edge and associated etching of the edge. The catalytic hydrogenation process was observed to be activated by a combination of elevated temperature and electron beam irradiation. Reduction of beam fluence on the particle was sufficient to stop the process, leading to the ability to switch on and off the etching. Such an approach enables the targeting of individual nanoparticles to induce motion and beam-controlled etching of matter through activated electrocatalytic processes. The applications of electron-beam control as a paradigm for molecular-scale robotics are discussed.

77 NANOSCIENCE AND NANOTECHNOLOGY↗
NASA NTRS1999

The Utility and Validity of Kinematic GPS Positioning for the Geosar Airborne Terrain Mapping Radar System

GeoSAR is an airborne, interferometric Synthetic Aperture Radar (IFSAR) system for terrain mapping, currently under development by a consortium including NASA's Jet Propulsion Laboratory (JPL), Calgis, Inc., a California mapping sciences company, and the California Department of Conservation (CaIDOC), with funding provided by the U.S. Army Corps of Engineers Topographic Engineering Center (TEC) and the U.S. Defense Advanced Research Projects Agency (DARPA). IFSAR data processing requires high-accuracy platform position and attitude knowledge. On 9 GeoSAR, these are provided by one or two Honeywell Embedded GPS Inertial Navigation Units (EGI) and an Ashtech Z12 GPS receiver. The EGIs provide real-time high-accuracy attitude and moderate-accuracy position data, while the Ashtech data, post-processed differentially with data from a nearby ground station using Ashtech PNAV software, provide high-accuracy differential GPS positions. These data are optimally combined using a Kalman filter within the GeoSAR motion measurement software, and the resultant position and orientation information are used to process the dual frequency (X-band and P-band) radar data to generate high-accuracy, high -resolution terrain imagery and digital elevation models (DEMs). GeoSAR requirements specify sub-meter level planimetric and vertical accuracies for the resultant DEMS. To achieve this, platform positioning errors well below one meter are needed. The goal of GeoSAR is to obtain 25 cm or better 3-D positions from the GPS systems on board the aircraft. By imaging a set of known point target corner-cube reflectors, the GeoSAR system can be calibrated. This calibration process yields the true position of the aircraft with an uncertainty of 20- 50 cm. This process thus allows an independent assessment of the accuracy of our GPS-based positioning systems. We will present an overview of the GeoSAR motion measurement system, focusing on the use of GPS and the blending of position data from the various systems. We will present the results of our calibration studies that relate to the accuracy the GPS positioning. We will discuss the effects these positioning, errors have on the resultant DEM products and imagery.

Freedman, Adam↗
DOE OSTI2021

The Application of Quaternions to Strap-Down MEMS Sensor Data

We describe the mathematical transformations required to convert the data recorded using typical 6-axis microelectromechanical systems (MEMS) sensor packages (3-axis rate gyroscopes and 3-axis accelerometers) when attached to an object undergoing a short duration loading event, such as blast loading, where inertial data alone are sufficient to track the object motion. By using the quaternion description, the complex object rotations and displacements that typically occur are translated into the more convenient earth frame of reference. An illustrative example is presented where a large and heavy object was thrown by the action of a very strong air blast in a complex manner. The data conversion process yielded an accurate animation of the object’s subsequent motion.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
NASA NTRS1999

Visual-vestibular integration motion perception reporting

Self-orientation and self/surround-motion perception derive from a multimodal sensory process that integrates information from the eyes, vestibular apparatus, proprioceptive and somatosensory receptors. Results from short and long duration spaceflight investigations indicate that: (1) perceptual and sensorimotor function was disrupted during the initial exposure to microgravity and gradually improved over hours to days (individuals adapt), (2) the presence and/or absence of information from different sensory modalities differentially affected the perception of orientation, self-motion and surround-motion, (3) perceptual and sensorimotor function was initially disrupted upon return to Earth-normal gravity and gradually recovered to preflight levels (individuals readapt), and (4) the longer the exposure to microgravity, the more complete the adaptation, the more profound the postflight disturbances, and the longer the recovery period to preflight levels. While much has been learned about perceptual and sensorimotor reactions and adaptation to microgravity, there is much remaining to be learned about the mechanisms underlying the adaptive changes, and about how intersensory interactions affect perceptual and sensorimotor function during voluntary movements. During space flight, SMS and perceptual disturbances have led to reductions in performance efficiency and sense of well-being. During entry and immediately after landing, such disturbances could have a serious impact on the ability of the commander to land the Orbiter and on the ability of all crew members to egress from the Orbiter, particularly in a non-nominal condition or following extended stays in microgravity. An understanding of spatial orientation and motion perception is essential for developing countermeasures for Space Motion Sickness (SMS) and perceptual disturbances during spaceflight and upon return to Earth. Countermeasures for optimal performance in flight and a successful return to Earth require the development of preflight and in-flight training to help astronauts acquire and maintain a dual adaptive state. Despite the considerable experience with, and use of, an extensive set of countermeasures in the Russian space program, SMS and perceptual disturbances remain an unresolved problem on long-term flights. Reliable, valid perceptual reports are required to develop and refine stimulus rearrangements presented in the PAT devices currently being developed as countermeasures for the prevention of motion sickness and perceptual disturbances during spaceflight, and to ensure a less hazardous return to Earth. Prior to STS-8, crew member descriptions of their perceptual experiences were, at best, anecdotal. Crew members were not schooled in the physiology or psychology of sensory perception, nor were they exposed to the appropriate professional vocabulary. However, beginning with the STS-8 Shuttle flight, a serious effort was initiated to teach astronauts a systematic method to classify and quantify their perceptual responses in space, during entry, and after flight. Understanding, categorizing, and characterizing perceptual responses to spaceflight has been greatly enhanced by implementation of that training system.

Harm, Deborah L.↗
DOE OSTI2022

Controls and process planning strategies for 5-axis laser directed energy deposition of Ti-6Al-4V using an 8-axis industrial robot and rotary motion

Interest in multi-axis additive manufacturing has grown significantly in recent years due to associated benefits that range from improved quality to support for greater geometric complexity. A method of 5-axis Laser Hot-Wire Directed Energy Deposition is developed and demonstrated in this study using an 8-axis industrial robot, comprised of a 6-axis serial link robot and a 2 degree-of-freedom positioner. Coordinated 5-axis motion is used to print Ti-6Al-4V objects predominantly through build plate rotation. Methods of slicing and toolpath generation are presented, including the use of an alternating toolpath direction philosophy and the manipulation of the CAD model surface normal vectors for determining the required build plate tilt angles for maintaining consistent deposition orientations relative to gravity. Another objective of the study was to determine the limits of conventional slicing and layer height control techniques for printing geometries with significant unsupported overhangs. A comparison is made between the behavior of normal and conformal bead alignment in this regard, and the performance of the layer height controller is reported as it relates to process stability and the limits of printing overhang geometries. Unsupported overhangs were successfully printed at 35° without build plate tilt and 45° with build plate tilt. Toolpath velocity and net-shape printing performance are reported as well, with 3D scans of the printed surfaces used for net-shape characterization. In all, the printing of three geometries is presented, including the overhang geometry, a 5-axis toolpath geometry, and a large-scale, multi-bead demonstrator part, which exceeded 500 mm in height and weighed 44 kg (97 lbs).

36 MATERIALS SCIENCE↗