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At least 703 records · Page 39

Constrained trajectory optimization for kinematically redundant arms

Two velocity optimization schemes for resolving redundant joint configurations are compared. The Extended Moore-Penrose Technique minimizes the joint velocities and avoids obstacles indirectly by adjoining a cost gradient to the solution. A new method can incorporate inequality constraints directly to avoid obstacles and singularities in the workspace. A four-link arm example is used to illustrate singularity avoidance while tracking desired end-effector paths.

Carignan, Craig R.↗

A kinematic determination of the structure of the double ring planetary nebula NGC 2392, the Eskimo

Slit spectra and existing 'velocity cube' data have been used to determine the structure of the double ring PN NGC 2392. The inner shell is a stellar wind-sculpted prolate spheroid with a ratio of axes of 2:1 and the approaching end of the long axis pointed 20 deg from the line of sight in P.A. = 200 deg. The outer ring is caused by an outer disk with density dropping off with distance from the central star and with distance from its plane, which is the same as the equatorial band of high density in the inner shell. The outer disk contains a ring of higher density knots at a distance of 16 arcsec and is losing material through free expansion, forming an outer envelope of increasing velocity. Forbidden S II spectra are used to determine the densities in all of the major regions of the nebula. It is argued that the filamentary cores at the centers of the knots seen in the outer ring originate in the sublimation of bodies formed at the same time as the parent star.

O'Dell, C. R.↗

Kinematic domain decomposition to simulate flows past moving objects

A new method is developed to solve the unsteady Navier-Stokes equations on a composite grid which consists of subdomain grids moving with respect to each other. These subdomains are structured grids with different topologies. However, their interfaces are unstructured in the sense that they may or may not arbitrarily overlap with each other. This method captures the boundary-motion-induced flow component. The method is demonstrated for a transonic flow past an airfoil which experiences a combined motion of pitching and plunging.

Baysal, Oktay↗

Trajectory optimization for kinematically redundant arms

A review of local optimization methods for resolving joint configurations in underconstrained manipulation tasks is conducted. A new approach is developed for observing joint limits and avoiding obstacles during the trajectory planning. The methodology is used in a four-link arm example to avoid a workspace singularity and is compared with results using the extended Moore-Penrose technique. An alternative measure of arm 'manipulability' based directly on the rank of the Jacobian is also introduced.

Carignan, Craig R.↗

A kinematic analysis of the Space Station remote manipulator system (SSRMS)

An efficient reverse analysis of three 6-degree-of-freedom (dof) subchains of the 7-dof SSRMS is presented. The first subchain is formed by locking the seventh joint. The second subchain is formed by locking the second joint, while the third subchain is formed by locking the first joint (the grounded joint is counted as the first joint in the chain). There are a maximum of eight different arm configurations in each of the three subchains, and these were determined by employing a computer-efficient algorithm, which required the rooting of only at most quadratic polynomials. The algorithms were implemented, and the SSRMS was employed in an animated environment to perform and practice a number of useful tasks for Space Station servicing. The locking of the second joint has the advantage in that an operator can choose the orientation of the plane that contains the two longest links so as to avoid collisions with obstacles. However, it has the disadvantage that when the second joint angle equals 0 deg or 180 deg, the manipulator is in a singularity configuration. This plane can also be oriented by specifying the first joint angle, so that the plane can be oriented arbitrarily and, in this, the singularity is avoided.

Crane, Carl D., III↗

Evolution on large-scale plasma structures in comets: Kinematics and physics

The disconnection event (DE) consists of the periodic loss of a comet's entire plasma tail and the growth of a new one. This spectacular phenomenon is not understood. The strategy was to assemble a data base of specific events studied in detail, determine the solar wind conditions responsible for DEs, and develop a consistent physical model. Analysis is complete for the sequence of DEs that took place during 13 to 18 April 1986. The first DE correlates well with a sector boundary crossing for the comet and a group of DEs that occurred approximately a day later could have produced by polarity reversals seen in the IMP-8 data. Thus, these DEs are consistent with the frontside, magnetic reconnection mechanism.

Brandt, John C.↗

Robust adaptive kinematic control of redundant robots

The paper presents a general method for the resolution of redundancy that combines the Jacobian pseudoinverse and augmentation approaches. A direct adaptive control scheme is developed to generate joint angle trajectories for achieving desired end-effector motion as well as additional user defined tasks. The scheme ensures arbitrarily small errors between the desired and the actual motion of the manipulator. Explicit bounds on the errors are established that are directly related to the mismatch between actual and estimated pseudoinverse Jacobian matrix, motion velocity and the controller gain. It is shown that the scheme is tolerant of the mismatch and consequently only infrequent pseudoinverse computations are needed during a typical robot motion. As a result, the scheme is computationally fast, and can be implemented for real-time control of redundant robots. A method is incorporated to cope with the robot singularities allowing the manipulator to get very close or even pass through a singularity while maintaining a good tracking performance and acceptable joint velocities. Computer simulations and experimental results are provided in support of the theoretical developments.

Tarokh, M.↗

Nonlinear satellite wakes in planetary rings. I - Phase-space kinematics

The explicit expression presently derived for the phase-space density of a planetary ring subjected to perturbations by a proximate satellite recovers the usual perturbed-streamline equations by drawing first-order moments of the phase-space density. The surface density obtained is positive-definite in virtue of taking the ring particles' finite-velocity dispersion into account. The satellite-wake local mean velocity components deviate from the streamline equations' sinusoidal form; this deviation grows as the wake moves downstream from the shepherding satellite.

Stewart, Glen R.↗

A kinematic and proper-motion survey of the Cygnus Loop

H-alpha radial velocities, line widths, and line intensities based on 71 Fabry-Perot interferometer scans of 61 fields in the Cygnus Loop supernova remnant SNR are reported. Also, measurements of proper motions at 39 locations within the Cygnus Loop are summarized. These results show that the remnant is expanding asymmetrically into the ambient interstellar medium, with rest-frame velocities as high as 380 km/s in the near half and 150 km/s in the far half. This can plausibly be interpreted as the result of the progenitor's evolution near a density discontinuity, the consequent formation of a cavity and partial shell, and the SN's interaction with that shell. The remnant's optically observed filamentary structure results from line-of-sight effects as shock waves advance into the irregular inner surface of the shell. In this context, the derived expansion velocities and proper motions give a formal distance to the Cygnus Loop of roughly 600 pc, with 1-sigma limits of 300 and 1200 pc.

Shull, Peter, Jr.↗

The kinematics of intermediate-redshift gaseous galaxy halos

High-resolution spectroscopy of the absorption lines associated with four intermediate-redshift galaxies are presented. These observations are combined with existing spectroscopy of the redshifted 21-cm absorption lines toward 0235 + 164 and 1229 - 021. Evidence is presented to the effect that the lines of sight through the absorbers toward 0235 + 164 and 1229 - 021 penetrate material for which the velocity fields are dominated by systematic rather than by random motions, and the line profiles are found to be consistent with what is expected for rotating ensembles of clouds. It is suggested that for these two absorbers the absorption arises in individual clouds within single galaxy halos rather than, for example, in collections of coalescing subgalactic fragments, for which the expected velocity fields are more turbulent, or as a result of galaxy-galaxy clustering. It is concluded that lines of sight that impact absorbing regions at small impact parameters intercept many clouds, sample large velocity intervals, and are likely to show redshifted 21-cm absorption, whereas lines of sight that impact absorbing regions at large impact parameters intercept few clouds, sample small velocity intervals, and are unlikely to show redshifted 21-cm absorption.

Lanzetta, Kenneth M.↗

Global O VI line emission from the Cygnus Loop supernova remnant and direct kinematic measurement of the associated shock

A far-ultraviolet spectrophotometric emission-line mapping of the Cygnus Loop supernova remnant is presented. These are results from the first flight of the rocket-borne, High Resolution Emission Line Spectrometer. The spatial distribution of the emission is that of a limb-brightened shell, and similar to soft X-ray maps. The emission-line profiles, which are broader than the instrument resolution, were consistent with uniformly expanding shell models. Best-fit values give a radial expansion velocity to the emissive region of 185(+/-19) km/s and a reddening-corrected average surface brightness of 8.8(+/-3.6) x 10 exp -6 ergs/sq cm s sr in the doublet. Comparison of the observed brightness with predictions of both radiative and nonradiative shock models provides constraints for the global blast wave ram pressure as well as a "covering factor" of the intermediate velocity shock.

Rasmussen, Andrew↗

Kinematics of the parsec-scale relativistic jet in 3C 345

The paper presents two 5 GHz most recently obtained VLBI images of the nucleus of the quasar 3C 345 (being observed since 1977), which were obtained in 1989 and 1990 with 4 pc resolution. The images show a variety of morphological features in the jet, which can help to understand the dynamics of the central energy source and the transport of energy along the jet. Also presented are the analysis of the images, temporal variations, and the jet profile. The jet speed and the orientation of 3C 345 were determined from various observational constraints, within the framework of the relativistic twin-jet model.

Unwin, Stephen C.↗

Electric and kinematic structure of the Oklahoma mesoscale convective system of 7 June 1989

Balloon soundings of electric field in Oklahoma mesoscale convective systems (MCS) were obtained by the National Severe Storms Laboratory in the spring of 1989. This study focuses on a sounding made in the rearward edge of an MCS stratiform rain area on 7 June 1989. Data from Doppler radars, a lightning ground-strike location system, satellite, and other sources is used to relate the mesoscale attributes of the MCS to the observed electric-field profile.

Hunter, Steven M.↗

Errors in long distance kinematic GPS

An attempt is made to quantify the contribution of tropospheric refraction, GPS ephemerides errors, and unresolved ambiguities to the overall error in the use of differential GPS to estimate aircraft position over very long distances. The extent to which such errors can be filtered out when estimating a trajectory, and how efficiently this may be done, are addressed.

Colombo, Oscar L.↗

Gravimetric capillary method for kinematic viscosity measurements

A novel version of the capillary method for viscosity measurements of liquids is presented. Viscosity data can be deduced in a straightforward way from mass transfer data obtained by differential weighing during the gravity-induced flow of the liquid between two cylindrical chambers. Tests of this technique with water, carbon tetrachloride, and ethanol suggest that this arrangement provides an accuracy of about +/- 1 percent. The technique facilitates operation under sealed, isothermal conditions and, thus can readily be applied to reactive and/or high vapor pressure liquids.

Rosenberger, Franz↗

Three-dimensional kinematic reconnection of plasmoids with nulls

The global nonlinear dynamics of magnetic field lines in plasmoids with a pair of nulls, where B = 0, is studied. The aim of this analysis is to describe the separatrix surfaces on which singularities can occur in ideal magnetohydrodynamics because of topological changes in the field. These separatrix surfaces should locate the boundary layers associated with 3D reconnection in the presence of resistivity or inertia. It is found that the field lines exhibit chaotic scattering with several properties in common with plasmoid models without nulls (in which one component of the magnetic field never changes sign). In particular, the singular surfaces can be fractal, implying complex current density structures down to the dissipation scale. These generic features are expected to exist in typical coronal magnetic geometries exhibiting three-dimensional reconnection and the formation of current sheets.

Lau, Yun-Tung↗

Kinematic domain decomposition for boundary-motion-induced flow simulations

A method is developed to solve the unsteady Navier-Stokes equations on a composite grid, which consists of subdomain grids moving with respect to each other. These subdomains are structured grids with different topologies. This method eliminates assuming the moving components to be instantaneously stationary, where deciding on the particular frozen instants is difficult and affects the solution adversely. Moreover, this method captures the boundary-motion-induced flow component. The method is demonstrated through a transonic flow past an airfoil, which experiences a combined motion of pitching and plunging. An O-grid around the airfoil is overlapped on a fine Cartesian grid, which is zonally embedded in a coarse Cartesian grid. The coarse grid is stationary but the other two grids are plunging. Only the O-grid is also sinusoidally pitching. The results are compared successfully with the experimental data.

Baysal, Oktay↗