Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “kinematic”

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 685 records · Page 38
All sourcesNASA NTRSDOE OSTI
NASA NTRS1987

Kinematic properties of the neutral gas outflow from comet P/Halley

High-resolution infrared spectra of H2O in Comet Halley, obtained by the Kuiper Airborne Observatory, were used to characterize the dynamics of the neutral gas outflow from the comet. The spatial distribution and the expansion velocity of the H2O molecules were deduced from the positions, widths, and shapes of the H2O lines. The character of line profiles suggested that the H2O distribution was anisotropic in the circular field-of-view of aproximately 10,000 radius centered on the nucleus. Direct observations of the H2O spatial brightness distribution showed that the outflow was concentrated in the sunward direction (although some H2O emission was also detected in the tail). An obvious property of the gas outflow from the Comet P/Halley was its variability. The specific intensities of the H2O lines demonstrated that the gas production from the comet varied significantly on many time scales; there were pre- and postperihelion asymmetries, day-to-day variations, and outbursts.

Larson, H. P.↗
NASA NTRS1987

Kinematic study of flight telerobotic servicer configuration issues

Several factors, such as body size and shape, and the number of arms and their placement, will influence how well the Flight Telerobotic Servicer (FTS) is suited to its potential duties for the Space Station Program. In order to examine the implications of these configuration options, eight specific 2, 3, and 4 armed FTS configuration were simulated and used to perform a Space Station Orbital Replacement Unit (ORU) exchange. The strengths and weaknesses of each configuration were evaluated. Although most of the configurations examined were able to perform the exchange, several of the 3 and 4 arm configurations had operational advantages. The results obtained form these simulations are specific to the assumptions associated with the ORU exchange scenario examined. However, they do illustrate the general interrelationships and sensitivities which need to be understood.

Lewis, R. H.↗
NASA NTRS1989

Joint-space adaptive control of a 6 DOF end-effector with closed-kinematic chain mechanism

The development is presented for a joint-space adaptive scheme that controls the joint position of a six-degree-of-freedom (DOF) robot end-effector performing fine and precise motion within a very limited workspace. The end-effector was built to study autonomous assembly of NASA hardware in space. The design of the adaptive controller is based on the concept of model reference adaptive control (MRAC) and Lyapunov direct method. In the development, it is assumed that the end-effector performs slowly varying motion. Computer simulation is performed to investigate the performance of the developed control scheme on position control of the end-effector. Simulation results manifest that the adaptive control scheme provides excellent tracking of several test paths.

Nguyen, Charles C.↗
NASA NTRS1987

Image-analysis techniques for determination of morphology and kinematics in arctic sea ice

SAR data have been used to study sea ice with respect to its motion and formation/deformation. With the prospect of the Alaska SAR Facility development in the near future, there is a great need for robust and efficient sea-ice analysis techniques. This paper presents a sea-ice motion analysis technique that can be used for: (1) local motion analysis of a selected ice patch, and (2) a global ice motion over the entire image area. In order to meet the operational speed requirement (over fifty images per day) a sea-ice motion analysis technique has been developed which requires very little human interaction. The proposed technique uses a subset of easily distinguishable features to predict global motion characteristics. The developed technique is applied to two pairs of SEASAT SAR images, one pair with a minor motion of 'ice pack' and another with a larger and discontinuous motion of 'fast ice'. The new approach enables the development of a set of computer-aided tools for feature selection and registration and the implementation of an optimal search strategy for automatic template matching via a motion prediction model.

Lee, Meemong↗
NASA NTRS1990

Learning-based position control of a closed-kinematic chain robot end-effector

A trajectory control scheme whose design is based on learning theory, for a six-degree-of-freedom (DOF) robot end-effector built to study robotic assembly of NASA hardwares in space is presented. The control scheme consists of two control systems: the feedback control system and the learning control system. The feedback control system is designed using the concept of linearization about a selected operating point, and the method of pole placement so that the closed-loop linearized system is stabilized. The learning control scheme consisting of PD-type learning controllers, provides additional inputs to improve the end-effector performance after each trial. Experimental studies performed on a 2 DOF end-effector built at CUA, for three tracking cases show that actual trajectories approach desired trajectories as the number of trials increases. The tracking errors are substantially reduced after only five trials.

Nguyen, Charles C.↗
NASA NTRS1988

Three legged walking mobile platform: Kinematic and dynamic analysis and simulation

The three legged walker is proposed as a mobile work platform for numerous tasks associated with lunar base site preparation and construction. It is seen as one of several forms of surface transportation, each of which will be best suited for its respective tasks. Utilizing the principle of dynamic stability and taking advantage of the Moon's gravity, it appears to be capable of walking in any radial direction and rotating about a point. Typical curved path walking could involve some combination of the radial and rotational movements. Comprised mainly of a body, six actuators, and six moving parts, it is mechanically quite simple. Each leg connects to the body at a hip joint and has a femur, a knee joint, and a tibia that terminates at a foot. Also capable of enabling or enhancing the dexterity of a series of implements, the walker concept provides a mechanically simple and weight efficient means of drilling, digging, mining, and transporting cargo, and performing other like tasks. A proof of principle machine demonstrated the feasibility of the walking concept.

Mcmurray, Gary V.↗
NASA NTRS1989

A complete analytical solution for the inverse instantaneous kinematics of a spherical-revolute-spherical (7R) redundant manipulator

Using a method based upon resolving joint velocities using reciprocal screw quantities, compact analytical expressions are generated for the inverse solution of the joint rates of a seven revolute (spherical-revolute-spherical) manipulator. The method uses a sequential decomposition of screw coordinates to identify reciprocal screw quantities used in the resolution of a particular joint rate solution, and also to identify a Jacobian null-space basis used for the direct solution of optimal joint rates. The results of the screw decomposition are used to study special configurations of the manipulator, generating expressions for the inverse velocity solution for all non-singular configurations of the manipulator, and identifying singular configurations and their characteristics. Two functions are therefore served: a new general method for the solution of the inverse velocity problem is presented; and complete analytical expressions are derived for the resolution of the joint rates of a seven degree of freedom manipulator useful for telerobotic and industrial robotic application.

Podhorodeski, R. P.↗
NASA NTRS1990

Line profiles and the kinematics of the narrow-line region in Seyfert galaxies

High signal-to-noise ratio and long-slit CCD spectra at about 100 km/sec resolution have been obtained for six high-ionization Seyfert galaxies. By subtracting the stellar absorption features with the aid of continuum templates, and using deblending techniques, the asymmetry indices of a number of optical emission-line profiles were measured, spanning a wide range in both ionization potential and critical density in each galaxy. The fundamental problem of the cloud-motion direction in the narrow-line region (NLR) has been studied, using these measurements and on the assumption that the preponderance of blueward profile asymmetries requires radial motion as well as a source of extinction. Simple and spherically symmetric NLR simulations are performed to demonstrate that infall and outflow models can be distinguished by comparing asymmetry indices as a function of ionization potential and critical density.

De Robertis, M. M.↗
NASA NTRS1990

Three-dimensional kinematic reconnection in the presence of field nulls and closed field lines

The present investigation of three-dimensional reconnection of magnetic fields with nulls and of fields with closed lines gives attention to the geometry of the former, with a view to their gamma-line and Sigma-surface structures. The geometric structures of configurations with a pair of type A and B nulls permit reconnection across the null-null lines; these are the field lines which join the two nulls. Also noted is the case of magnetostatic reconnection, in which the magnetic field is time-independent and the electrostatic potential is constant along field lines.

Lau, Yun-Tung↗
NASA NTRS1990

The fast kinematic magnetic dynamo and the dissipationless limit

The evolution of the magnetic field in models that incorporate chaotic field line stretching, field cancellation, and finite magnetic Reynolds number is examined analytically and numerically. Although the models used here are highly idealized, it is claimed that they display and illustrate typical behavior relevant to fast magnetic dynamic behavior. It is shown, in particular, that consideration of magnetic flux through a finite fixed surface provides a simple and effective way of deducing fast dynamo behavior from the zero resistivity equation. Certain aspects of the fast dynamo problem can thus be reduced to a study of nonlinear dynamic properties of the underlying flow.

Finn, John M.↗
NASA NTRS1990

The kinematics and morphology of NGC 520

New long-slit optical spectroscopy and optical and NIR images of NGC 520 are presented. Velocity-dispersion and radial-velocity profiles are obtained from the spectra with the Fourier quotient and cross-correlation techniques. At the NW optical emission peak, a sharp rise in the velocity dispersions implies a concentration of mass. The NW optical peak is also apparent as a peak in the K-band image, whose NIR colors are consistent with the presence of a typical bulge steller population. These data suggest that the NW peak may be the bulge of one of two galaxies in the system. A larger bulge is clearly evident in the K-band image in the middle of an optical dust lane. The optical colors and H-alpha emission imply that both bulges and the disk of the NW galaxy have experienced recent star formation. The radial-velocity profile in the central 10 arcsec at the larger bulge is consistent with a counterrotating core, in agreement with the CO radial-velocity profile (Sanders et al., 1988). This core could be explained as an accreted gas-rich irregular galaxy which is forming a counterrotating stellar disk.

Standord, S. A.↗
NASA NTRS1989

Applying kinematic GPS to airborne laser remote sensing

Results from the application of differential carrier phase tracking of the Global Positioning System (GPS) constellation of satellites to precise positioning (sub-10 cm) of an aircraft are presented. These aircraft positions are utilized in the process of providing geodetic quality position information for airborne laser 'footprint' locations on the surface of the earth. The combination of these techniques provides a rapid, cost effective means for collecting geodetic and topographic data, including sea surface topography. Operational techniques and constraints, along with results from recently collected data, are presented.

Krabill, William B.↗
NASA NTRS1989

Kinematics and mechanics of tectonic block rotations

Paleomagnetic, structural geology, and rock mechanics data are combined to explore the validity of the block rotation concept and its significance. The analysis is based on data from (1) Northern Israel, where fault slip and spacing are used to predict block rotation; (2) the Mojave Desert, with well-documented strike-slip fault sets, organized in at least three major domains; (3) the Lake Mead, Nevada, fault system with well-defined sets of strike-slip faults, which, in contrast to the Mojave region, are surrounded with domains of normal faults; and (4) the San Gabriel Mountains domain with a multiple set of strike-slip faults. It is found that block rotations can have a profound influence on the interpretation of geodetic measurements and the inversion of geodetic data, especially the type collected in GPS surveys. Furthermore, block rotations and domain boundaries may be involved in creating the heterogeneities along active fault systems which are responsible for the initiation and termination of earthquake rupture.

Nur, Amos↗
NASA NTRS1990

The kinematics of Abell clusters

Velocity histograms, galaxy positions, and velocity dispersions are presented for 69 nearby Abell clusters. The shape of the cumulative distribution for R = 1 or more clusters does not match the predictions of standard CDM models for any biasing parameter b. The only models consistent with the median and maximum dispersions of the sample are those of b about 1.6-2.0 and in which clusters are identified in three dimensions. Velocity dispersions of high-redshift systems appear fundamentally different from those of nearby clusters. The median dispersion of the subset of 25 cD clusters is similar to that of non-cD systems. A substantial fraction of the cD galaxies have velocities significantly different from the mean of their parent clusters. Three of these have 4 s or more measured redshifts. These last two results suggest that the formation of cD galaxies is dominated by the local, rather than global, cluster environment.

Zabludoff, Ann I.↗
NASA NTRS1990

CS in nearby galaxies: Distribution, kinematics, and multilevel studies

As a result of observations at the Institute for Radio Astronomy in the Millimeter Range (IRAM) 30-m telescope, maps of the distribution of the J = 2-1 transition of CS toward the galaxies IC 342 and NGC 253 are presented. The distribution of the CS emission from NGC 253 is consistent with the CO 1-0 line. The distribution of the CS emission from IC 342, however, resembles more that seen in the CO 3-2 line. For the first time, the detection of the isotopic substitution C-34S is reported toward an external galaxy: The C-34S 2-1 line has been detected toward NGC 253 and M 82 and the C-34S line has been detected tentatively toward M 82. Also for the first time, extragalactic CS has been observed in the 3-2 (toward NGC 253, IC 342 and M 82) and 5-4 (NGC 253 and IC 342) transitions.

Mauersberger, R.↗
NASA NTRS1990

Deep Fabry-Perot imaging of NGC 6240: Kinematic evidence for merging galaxies

The authors have observed the superluminous, infrared galaxy NGC 6240 (z = 0.025) at H alpha with the Hawaii Imaging Fabry-Perot Interferometer (HIFI - Bland and Tully 1989). During the past decade, observational evidence from all wavebands indicates that the unusual appearance of NGC 6240 has resulted from a collision between two gas-rich systems, a view which is supported by our spectrophotometric data. However, the origin of the enormous infrared luminosity (4 times 10(exp 11) solar luminosity) detected by the Infrared Astronomy Satellite (IRAS) remains highly controversial, where opinions differ on the relative roles of large-scale shocks, massive star formation or a buried 'active' nucleus. These mechanisms are discussed in the light of the author's Fabry-Perot observations.

Hawthorn, J. Bland↗
NASA NTRS1991

Applying kinematic GPS to airborne laser remote sensing

Results from the application of differential carrier phase tracking of the GPS constellation of satellites to precise positioning of an aircraft are presented. These aircraft positions are utilized in the process of providing geodetic quality position information for airborne laser footprint location on the surface of the earth. The combination of these techniques provides a rapid, cost effective means for collecting geodetic and topographic data, including sea surface topography. Operational techniques and constraints, along with result from recently collected data, are presented.

Krabill, William B.↗