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At least 73 records · Page 4

Generalized compliant motion task description and execution within a complete telerobotic system

A motion primitive for use in compliant motion robot task execution is described. The primitive has a rich input parameter set to provide for execution of a variety of specific tasks such as door opening, crank turning, bolt seating and turning, pushing, sliding, pin insertion/removal, and leveling, as well as termination conditions which specify conditions for ending the motion, such as allowable position and force error bounds. A split rate force control technique is used for force control. Force and torque data from a six-axis force sensor are read, and gravity compensation using load mass properties is done to determine contact forces.

Backes, Paul G.↗

Aeroacoustic Duster

The invention disclosed herein provides for high particle removal rate and/or heat transfer from surfaces. The device removes particulate matter from a surface using a bounded vortex generated over the surface, with suction in the vortex center and jets for blowing air along the periphery. The jets are tilted in the tangential direction to induce vortex motion within the suction region. The vortex is said to be bounded because streamlines originating in the downward jets are entrained back into the central vortex.

Marshall, Jeffrey S.↗

Aeroacoustic Duster

The aero-acoustic duster invention disclosed herein provides for high particle removal rate from surfaces with low energy expenditure relative to competing vacuum-based devices. The device removes particulate matter from a surface using a two-step process: 1. Acoustic radiation is used to break the adhesive bonds between dust and the surface, forcing particles into a mode where they continuously bounce up and down on the surface; and, 2. A bounded vortex is generated over the surface, with suction in the vortex center and jets for blowing air along the periphery. The jets are tilted in the tangential direction to induce vortex motion within the suction region. The vortex is said to be bounded because streamlines originating in the downward jets are entrained back into the central vortex.

Marshall, Jeffrey S.↗

The Interaction of Solar wind Discontinuities with the Earth's Bow Shock

Funding from NASA Grant No. NAG54679 was received in three installments. The first year's installment amounted to only one month of salary support and was used to prepare survey plots. The second year's installment allowed us to complete two research papers concerning the interaction of solar wind discontinuities with the Earth's bow shock. In the first (published) paper, we reported that the discontinuities launch slow mode waves into the magnetosheath and the slow mode waves always propagate antisunward through the flank magnetosheath. Because the sunward/antisunward sense of the magnetosheath magnetic field reverses across local noon, so does the (north/south or east/west) sense of the velocity fluctuations associated with the waves. Wind, Geotail, and IMP-8 observations were used for this study. In the second study, we used Wind and Interball-1 observations to demonstrate that pressure pulses in the magnetosheath occur in pairs and that they bound pressure cavities and/or brief intervals of outward magnetopause motion. This paper is now in press. Funding from the third year's installment has been used to investigate the two aspects of the foreshock. Two manuscripts are now in preparation for submission to the Journal of Geophysical Research. The first reports that waves within the foreshock account for many instances of poor correlations between two solar wind monitors. Remaining cases of poor correlation occur during intervals of nearly constant IMF orientations and magnetic field strengths. While the former category pose a significant difficulty for space weather forecasts, the latter do not. The second study surveys IMP-8 observations of the foreshock. We find that diamagnetic cavities are common, particularly during periods of high solar wind velocity and low solar wind density. Plasma densities, temperatures, and magnetic field strengths fall during intervals of enhanced energetic particle fluxes. The cavities are bounded by regions of decelerated solar wind plasma and enhanced densities and magnetic field strengths.

Sibeck, David G.↗

On the feasibility of real-time prediction of aircraft carrier motion at sea

The ability to predict the aircraft carrier's motion over an interval of several seconds within reasonable error bounds may allow an improvement in touchdown dispersion and a more certain value for ramp clearance due to a smoother aircraft trajectory. Also, improved information to the landing signal officer should decrease the number of waveoffs substantially. It is quantitatively shown that, based on the power density spectrum data for pitch and heave measured for various ships and sea conditions, the motion can be predicted well for up to 15 seconds. The zero crossover times for both pitch and heave motions can be predicted with impressive accuracy. The predictor was designed on the basis of Kalman's optimum filtering theory for the discrete time case, adapted for real-time digital computer operation.

Sidar, M.↗

On the feasibility of real-time prediction of aircraft carrier motion at sea

Landing aircraft on board carriers is a most delicate phase of flight operations at sea. The ability to predict the aircraft carrier's motion over an interval of several seconds within reasonable error bounds may allow an improvement in touchdown dispersion and reduce the value of the ramp clearance due to a smoother aircraft trajectory. Also, improved information to the landing signal officer should decrease the number of waveoffs substantially. This paper indicates and shows quantitatively that, based upon the power density spectrum data for pitch and heave measured for various ships and sea conditions, the motion can be predicted well, for up to 15 s. Moreover, the zero crossover times for both pitch and heave motions can be predicted with impressive accuracy. The predictor was designed on the basis of Kalman's optimum filtering theory (the discrete time case), being compatible with real-time digital computer operation.

Sidar, M. M.↗

Guaranteed Road Network Search with Small Unmanned Aircraft

The use of teams of small unmanned aircraft in real-world rapid-response missions is fast becoming a reality. One such application is search and detection of an evader in urban areas. This paper draws on results in graph-based pursuit-evasion, developing mappings from these abstractions to primitive motions that may be performed by aircraft, to produce search strategies providing guaranteed capture of road-bound targets. The first such strategy is applicable to evaders of arbitrary speed and agility, offering a conservative solution that is insensitive to motion constraints pursuers may possess. This is built upon to generate two strategies for capture of targets having a known speed bound that require searcher teams of much smaller size. The efficacy of these algorithms is demonstrated by evaluation in extensive simulation using realistic vehicle models across a spectrum of environment classes.

unmanned aircraft systems↗

Dynamics of spinning spacecraft during the deployment of flexible boom

The effect of flexibility on the dynamics of a spinning symmetrical spacecraft during the extension (or retraction) of boom-type appendages is treated by modeling the appendages as compound spherical pendula with varying lengths. Both boom stiffness and structural damping are included. For constant boom length the resulting linearized equations of motion contain periodic coefficients involving the spin frequency. A bounded transformation converts this system into a kinematically equivalent one (with only constant coefficients), whose stability is analyzed using the Kelvin-Tait-Chetaev theorem. The dynamics during extension is predicted by numerical simulation of the nonlinear equations.

James, P. K.↗

Real time prediction of marine vessel motions using Kalman filtering techniques

The present investigation is concerned with the prediction of the future behavior of a vessel within some confidence bounds at a specific instant of time, taking into account an interval of a few seconds. The ability to predict accurately the motions of a vessel can reduce significantly the probability of failure of operations in rough seas. The investigation was started as part of an effort to ensure safe landing of aircraft on relatively small vessels. However, the basic principles involved in the study are the same for any offshore operation, such as carbo transfer in the open sea, structure installation, and floating crane operation. The Kalman filter is a powerful tool for achieving the goals of the prediction procedure. Attention is given to a linear optimal predictor, the equations of motion of the vessel, the wave spectrum, rational approximation, the use of Kalman filter and predictor in an application for a ship, and the motions of a semisubmersible.

Triantafyllou, M. S.↗

Controls of interaction dynamics of orbital assembly

Building structures and spacecraft in orbit will require technologies for positioning, docking/berthing, and joining orbital structures. A fundamental problem underlying the operation of docking and berthing is that of controlling the contact dynamics of mechanical structures actuated by active mechanisms such as robotic devices. Control systems must be designed to control these active mechanisms so that both the free space motions and contact motions are stable and satisfy specifications on position accuracy and bounds on contact forces. For the large orbital structures of the future, the problem of interactive dynamics and control is fundamentally different in several ways than it was for spacecraft docking in the past. First, future space structures must be treated as flexible structures - the operations of docking, berthing, and assembly will need to respect the vibrations of the structures. Second, the assembly of these structures will require multiple-point contact, rather than the essentially single-point positioning of conventional spacecraft docking. Third, some assembly operations require the subassemblies to be brought and held in contact so that successful joining can be accomplished. A preliminary study of contact stability and compliance control design has resulted in the development of an analytical method and a design method to analyze stability. The analytical method analyzes the problem of stability when an actively-controlled structure contacts a passive structure. This method makes it possible to accurately estimate the stiffness of the passive structures with which the contact motion will become unstable. The analytic results suggest that passivity is neither achievable in practice, nor necessary as a design concept. A contact control system need only be passive up to a certain frequency; beyond that frequency the system can be stabilized with sufficiently small gains. With this concept the Center developed a design methodology for achieving desired compliant contact motions. This design method is based on H-infinity norm optimization, which makes it possible to consider both driving point mechanical impedance and systems robustness to modeling uncertainty. A laboratory facility was set up to verify experimentally the analytical and design theory.

Su, Renjeng↗

The initiation, development, and decay of the secondary flow in a bounded jet

The secondary flow in a low aspect ratio incompressible turbulent bounded jet is described in terms of a near, middle, and far field in which the secondary motion is initiated, developed, and decayed, respectively. The initiation of the secondary flow is explained by the distortion of the planar vortex loops which bound the jet at the exit plane. In the region away from the bounding plates, the vortex loop distortion is similar to that found in rectangular free jets; however, the bounding plates cause an additional production of streamwise vorticity near the plates which has no counterpart in the free jet flow. Downstream of the jet core region, a large-scale secondary flow developes from this vorticity. Farther downstream the secondary flow decays; the resultant flow may be characterized as a combination of a plane jet and boundary layer flows. This explanation is supported by the vorticity and velocity data of this investigation.

Holdeman, J. D.↗

Chaos and nonlinear dynamics of single-particle orbits in a magnetotaillike magnetic field

The properties of charged-particle motion in Hamiltonian dynamics are studied in a magnetotaillike magnetic field configuration. It is shown by numerical integration of the equation of motion that the system is generally nonintegrable and that the particle motion can be classified into three distinct types of orbits: bounded integrable orbits, unbounded stochastic orbits, and unbounded transient orbits. It is also shown that different regions of the phase space exhibit qualitatively different responses to external influences. The concept of 'differential memory' in single-particle distributions is proposed. Physical implications for the dynamical properties of the magnetotail plasmas and the possible generation of non-Maxwellian features in the distribution functions are discussed.

Chen, J.↗

deltaT/T limits from the UCSB South Pole degree-scale experiment and constraints on the large-scale deviations from the Hubble flow

The limits to the cosmic microwave background radiation (CBR) temperature anisotropy derived from the results of the University of California at Santa Barbara South Pole degree-scale experiment are translated into upper bounds on large-scale deviations from the Hubble flow. The lack of measurable CBR anisotropy in this experiment implies very low upper bounds upon the rms amplitude V(R) of the streaming motion within a Gaussian window of radius R: Vmax(R is greater than 4000 km/s) less than 200 km/s, and Vmax(R is greater than 7500 km/s) is less than 100 km/s. Thus, the smoothness of the CBR at about 1-2 deg and the apparent large-amplitude (about 500 km/s) deviations from pure Hubble flow at R greater than about 4000 km/s cannot be simultaneously explained in the framework of usual large-scale structure formation models based on the assumptions involved in this calculation.

Gorski, Krzysztof M.↗

Preparation and Characterization of Fluorescent Derivatives of Chicken Egg White Lysozyme

Fluorescence is one of the most versatile and powerful tools for the study of macromolecules. While most proteins are intrinsically fluorescent, working at crystallization concentrations require the use of covalently prepared derivatives added as tracers. This approach requires derivatives that do not markedly affect the crystal packing. We have prepared a number of fluorescent derivatives of chicken egg white lysozyme with probes bound to one of two different sites on the protein molecule. Lucifer yellow, cascade blue, and 5-(2-aminoethyl)aminonapthalene-l-sulfonic acid (EDANS) have been attached to the side chain carboxyl of asp101 using a carbodiimide coupling procedure. asp101 lies within the active site cleft, and it is believed that the probes are at least partially "buried" within that cleft. Lucifer yellow and MANS probes with iodoacetamide reactive groups have been bound to hisl5, located on the "back side" of the molecule relative to the active site. The fluorescently labeled protein is readily purified from the starting material by cation exchange chromatography. All the derivatives fluoresce in both the solution and the crystalline states. Fluorescence characterization has focused on determining the bound probe quantum yields, lifetimes, absorption and emission spectra, and quenching by added solutes in comparison to the free probe. No appreciable changes are found in the lifetimes of any of the probes except for cascade blue, where Tau(sub free) = 3.52 ns vrs Tau(sub bound) = 2.8 ns. Spectral shifts are found in most cases. Particularly strong quenching upon binding is found in the case of the cascade blue derivative, likely due to probe interactions with the active site cleft. While none of the asp101 bound probes are well quenched by commonly employed solutes, such as potassium and sodium iodide, acrylamide, primuline, the chloride salts of manganese, cesium, and cobalt, trifluoroacetamide, trichloroethanol, and thallium iodide, in those cases where quenching is observed the bound probe is less efficiently quenched relative to the free probe. This indicates that the bound probes are less accessible to the bulk solution, an expected finding for attachment within the active site cleft. Attempts have been made to bind other molecules to these sites, with varying success. Interestingly, all three probes contain one or more sulfonate ((Ar-S03)-) groups. We have not been successful in binding analogous probes without sulfate groups such as pyrene, or with derivatized sulfonate groups such as dansyl type probes, analogous to MANS but where the sulfonate group is derivatized, Ar-S02-N2C2H7. None of the probes is rigidly bound to the protein, i.e., they all have a probe motion superimposed on that of the protein.

Sumida, John↗

Plate Motions, Regional Deformation, and Time-Variation of Plate Motions

The significant results obtained with support of this grant include the following: (1) Using VLBI data in combination with other geodetical, geophysical, and geological data to bound the present rotation of the Colorado Plateau, and to evaluate to its implications for the kinematics and seismogenic potential of the western half of the conterminous U.S. (2) Determining realistic estimates of uncertainties for VLBI data and then applying the data and uncertainties to obtain an upper bound on the integral of deformation within the "stable interior" of the North American and other plates and thus to place an upper bound on the seismogenic potential within these regions. (3) Combining VLBI data with other geodetic, geophysical, and geologic data to estimate the motion of coastal California in a frame of reference attached to the Sierra Nevada-Great Valley microplate. This analysis has provided new insights into the kinematic boundary conditions that may control or at least strongly influence the locations of asperities that rupture in great earthquakes along the San Andreas transform system. (4) Determining a global tectonic model from VLBI geodetic data that combines the estimation of plate angular velocities with individual site linear velocities where tectonically appropriate. and (5) Investigation of the some of the outstanding problems defined by the work leading to global plate motion model NUVEL-1. These problems, such as the motion between the Pacific and North American plates and between west Africa and east Africa, are focused on regions where the seismogenic potential may be greater than implied by published plate tectonic models.

Gordon, R. G.↗

The wave function and minimum uncertainty function of the bound quadratic Hamiltonian system

The bound quadratic Hamiltonian system is analyzed explicitly on the basis of quantum mechanics. We have derived the invariant quantity with an auxiliary equation as the classical equation of motion. With the use of this invariant it can be determined whether or not the system is bound. In bound system we have evaluated the exact eigenfunction and minimum uncertainty function through unitary transformation.

Yeon, Kyu Hwang↗

Development of the functional simulator for the Galileo attitude and articulation control system

A simulation program for verifying and checking the performance of the Galileo Spacecraft's Attitude and Articulation Control Subsystem's (AACS) flight software is discussed. The program, which is called Functional Simulator (FUNSIM), provides a simple method of interfacing user-supplied mathematical models coded in FORTRAN which describes spacecraft dynamics, sensors, and actuators; this is done with the AACS flight software, coded in HAL/S (High-level Advanced Language/Shuttle). It is thus able to simulate the AACS flight software accurately to the HAL/S statement level in the environment of a mainframe computer system. FUNSIM also has a command and data subsystem (CDS) simulator. It is noted that the input/output data and timing are simulated with the same precision as the flight microprocessor. FUNSIM uses a variable stepsize numerical integration algorithm complete with individual error bound control on the state variable to solve the equations of motion. The program has been designed to provide both line printer and matrix dot plotting of the variables requested in the run section and to provide error diagnostics.

Namiri, M. K.↗

An investigation of the equatorial orographic-dynamic mechanism

A barotropic model over an equatorial beta-plane is used to investigate the response when a uniform zonal current crosses an isolated hypothetical mountain centered at the equator. The bounded derivative initialization method is applied to suppress gravity-inertia motions. A quasi-stationary trough is generated at the top of the orography. Its intensity is greater in the easterly case than in the westerly case of the initial zonal current. A diagnostic equation is derived to interpret this difference in the solution. The quasi-stationary orographic divergence field which is positive on the windward slope and negative on the leeward slope (for both easterly and westerly cases of the initial zonal current) is responsible for maintaining the trough. The difference in the intensity of the trough is due to the contribution of the beta-u effect, which changes sign with the direction of the initial zonal flow.

Semazzi, F. H. M.↗