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NASA NTRS1998

A Framework for a Supervisory Expert System for Robotic Manipulators with Joint-Position Limits and Joint-Rate Limits

This report addresses the problem of path planning and control of robotic manipulators which have joint-position limits and joint-rate limits. The manipulators move autonomously and carry out variable tasks in a dynamic, unstructured and cluttered environment. The issue considered is whether the robotic manipulator can achieve all its tasks, and if it cannot, the objective is to identify the closest achievable goal. This problem is formalized and systematically solved for generic manipulators by using inverse kinematics and forward kinematics. Inverse kinematics are employed to define the subspace, workspace and constrained workspace, which are then used to identify when a task is not achievable. The closest achievable goal is obtained by determining weights for an optimal control redistribution scheme. These weights are quantified by using forward kinematics. Conditions leading to joint rate limits are identified, in particular it is established that all generic manipulators have singularities at the boundary of their workspace, while some have loci of singularities inside their workspace. Once the manipulator singularity is identified the command redistribution scheme is used to compute the closest achievable Cartesian velocities. Two examples are used to illustrate the use of the algorithm: A three link planar manipulator and the Unimation Puma 560. Implementation of the derived algorithm is effected by using a supervisory expert system to check whether the desired goal lies in the constrained workspace and if not, to evoke the redistribution scheme which determines the constraint relaxation between end effector position and orientation, and then computes optimal gains.

Mutambara, Arthur G. O.↗

NASA NTRSDate not supplied

Development of a Full-Scale Finite Element Model of the Fokker F28 Fellowship Aircraft and Crash Simulation Predictions

In June 2019, a full-scale crash test of a Fokker F28 Fellowship aircraft was conducted as part of a joint National Aeronautics and Space Administration/Federal Aviation Administration (NASA/FAA) project to investigate the performance of transport aircraft under realistic crash conditions. The test objectives were to provide data for assessment of transport aircraft crashworthiness under realistic impact conditions and to generate test data for model validation. The test article was loaded with transport aircraft seats in a 3+2 configuration. A total of 24 instrumented ATDs were placed in the seats and restrained. The test article weighed 33,306-lb. (15,107.3-kg) and, during the crash test, impacted a 2-ft. (0.61-m) high soil bed at 65.3-ft/s (19.9-m/s) forward and 31.8-ft/s (9.7-m/s) vertical velocity. The full-scale aircraft crash test was simulated using the commercial nonlinear explicit transient dynamic finite element code, LS-DYNA. This paper will provide a description of the test article and the crash test conditions, document the F28 full-scale model development, and present test-analysis comparisons. The test-analysis comparisons include inertial properties, kinematic responses, structural acceleration responses, and structural deformation and failure.

Karen E Jackson↗

DOE OSTI2025

Parton distribution functions from scalar light-front parton gas model

Here, we propose an application of a microcanonical ensemble with light-front kinematics to model the phase-space distribution of relativistic constituents of a bound state. These constituents denoted by partons are treated as classical spin-zero particles confined inside the bound state with inter-parton collisions as their only interaction. The microcanonical molecular dynamics ensemble is applied to obtain the phase-space distribution of such a thermodynamic system. We sample this phase-space distribution using Monte Carlo algorithms to obtain the parton distribution functions (PDFs) in scenarios with 3, 4, and 5 identical partons. In addition PDFs when a selected number of massless partons are mixed with 3 massive partons are also presented.

Microcanonical ensemble↗

NASA NTRS1984

Ring particles - Collisional interactions and physical nature

Attention is given to the properties of, and dynamical processes affecting individual particles of Saturn's rings. Because particles tend to be gravitationally bound when located on the surfaces of larger particles, and since net tidal stresses within the particles are small, particle collisions should produce accretion in Saturn's rings. Rapid accretionary processes within the rings are counterbalanced by tidal disruption of the larger accreted aggregates, which are presently designated 'dynamic ephemeral bodies'. The coefficient of restitution is probably very low, implying that the large particles containing most of the rings' mass are in a monolayer, although the small particles responsible for most of the rings' visible cross section form a layer many particles thick. Kinematic viscosity and interparticle erosive process models should incorporate these properties.

Weidenschilling, S. J.↗

NASA NTRS2020

Multibody Based Digital Astronaut Dynamics Simulation

BACKGROUND: This study provides the Software, Robotics, & Simulation Division at the NASA Johnson Space Center with a verification tool for multibody dynamics simulation requiring human motion. The motivation stems from current studies of several Vibration Isolation & Stabilization(VIS)system designs that attenuate the moments and forces which would be transmitted to a spacecraft during an exercise. A multibody dynamics model for a proposed VIS was available previously[1], therefore modeling of the VIS was not needed for this work. The interest here is in creating the multibody dynamics model of an astronaut in motion which may be utilized independently or while attached to a mechanism. An existing simulation [2] that utilizes OpenSim [3,4] and an in-house multibody dynamics package (MBDyn) [5] is used in order to verify the astronaut model. The main advantage this model will have over the existing simulation is that everything will be processed in one tool. METHODS AND RESULTS: Creating the simulation required; estimation of Body Segment Inertial Parameters (BSIP),a multibody model of the human-VIS system, joint acceleration profiles, and input files for MBDyn, which is used for this analysis. The scaling factors provided by Dumas et al. [6] are utilized in estimating the BSIP. Anthropometric data are used for estimating these parameters, the Anthropometric Survey of US Army Personnel (ANSUR II) [7] was the source. The astronaut model consists of 15 bodies, 14 joints and 32 degrees of freedom, with the dynamics topology generated using the center of mass locations and anthropometric data. MBDyn has an option for prescribed joint motion (PJM), which requires joint acceleration data as input. The joint angle data is first obtained from a motion capture system and then processed through code that has been created to generate approximate joint acceleration profiles. The topology tree for the astronaut model begins at the right foot up to the pelvis where there is one branch for going down the left leg and another for the torso. The torso branch leads to branches for the arms and a leaf body for the head/neck segment. For attachment to the VIS, the heel of the right foot is connected to the VIS platform through a fixed joint, resembling a foot restraint. The left foot does not attach to the platform in order to prevent a system with a closed loop. Topology and symmetry of the astronaut model were verified through kinematic analysis. Further verification of the forces and moments transmitted to the VIS were verified against the existing simulation. There was a satisfactory level of agreement when testing a simple motion, for example, rocking back and forth. Full exercise motions are to be tested soon. The main outcome has been a novel application of MBDyn for biomechanics modeling that is now available for dynamic simulations involving human motion. The estimation of BSIP was another useful result of this study, requiring only 15 inputs for generating mass properties of a theoretical astronaut model. Expansion on this work is possible by going through an alternative route in obtaining the joint motion data. Instead of high-tech and often expensive motion capture systems, an individual may watch videos with high focus and at a slow motion for each individual segment in order to determine the initial and final time and angle for that specific degree of freedom. Synthetic trajectories may also be created if there is no video reference available.

F N Matari↗

DOE OSTI2025

Insights into Slip-Rate Time Functions, Rupture Parameter Correlations, and Ground Motions from Validated Multicycle Earthquake Ruptures

Earthquake strong-motion predictions using kinematic source modeling require knowledge of the slip-rate functions (SRFs) along the rupture and their distinct characteristics in asperities, background (off-asperity) areas and near the surface. Here, in this study we analyzed SRFs from well-validated, self-consistent, and fully dynamic rupture models from earthquake cycles obeying a rate-and-state friction law, from our companion study (Galvez et al., 2021). The shapes of SRFs in asperities are well described by the regularized Yoffe function (RYF), which has only two parameters: rise time T r and smoothing time T s , which control the generation of long- and short-period ground motions, respectively. In background areas, we demonstrate that, in addition to the primary rupture, multiple secondary ruptures may also nucleate from rupture heterogeneities related to asperities, resulting in SRFs with multiple peaks. Because it is impossible to fit a multiple-peak SRF by the single-peak RYF, we describe SRFs in background areas in an effective way by fitting their amplitude spectra with the RYF spectra. Such spectrally effective RYFs capture salient aspects of seismic-wave generation and can be used in rupture generators for strong motion prediction. We found that small T s values correlate with small characteristic weakening distances, large peak slip rates (PSRs), and large rupture velocities. T r values are larger in background areas and smaller in asperities. Within the shallow aseismic zone, T s values approximately quadruple whereas T r values approximately double. Because of this dominant T s increase, PSR values decrease in the near-surface zone. These features indicate that the generation of strong motions by the near-surface portions of the rupture is negligible in the studied scenarios.

Geosciences↗

NASA NTRS1984

A passively controlled appendage deployment system for the San Marco D/L spacecraft

The analytical simulation of deployment dynamics of these two axis concepts as well as the evolution of practical designs for the add on deployable inertia boom units is described. With the boom free to swing back in response to Coriolis forces as well as outwards in response to centrifugal forces, the kinematics of motion are complex but admit the possibility of absorbing deployment energy in frictional or other damping devices about the radial axis, where large amplitude motions can occur and where the design envelope allows more available volume. An acceptable range is defined for frictional damping for any given spin rate. Inadequate damping allows boom motions which strike the spacecraft; excessive damping causes the boom to swing out and latch with damaging violence. The acceptable range is a design parameter and must accommodate spin rate tolerance and also the tolerance and repeatability of the damping mechanisms.

Lang, W. E.↗

NASA NTRS1996

Experimental study of vortex breakdown in a cylindrical, swirling flow

The stability of a steady, vortical flow in a cylindrical container with one rotating endwall has been experimentally examined to gain insight into the process of vortex breakdowwn. The dynamics of the flow are governed by the Reynolds number (Re) and the aspect ratio of the cylinder. Re is given by Omega R(sup 2)/nu, where Omega is the speed of rotation of the endwall, R is the cylinder radius, and nu is the kinematic viscosity of the fluid filling the cylinder. The aspect ratio is H/R, where H is the height of the cylinder. Numerical simulation studies disagree whether or not the steady breakdown is stable beyond a critical Reynolds number, Re(sub c). Previous experimental researches have considered the steady and unsteady flows near Re(sub c), but have not explored the stability of the steady breakdown structures beyond this value. In this investigation, laser induced fluorescence was utilized to observe both steady and unsteady vortex breakdown at a fixed H/R of 2.5 with Re varying around Re(sub c). When the Re of a steady flow was slowly increased beyond Re(sub c), the breakdown structure remained steady even though unsteadiness was possible. In addition, a number of hysteresis events involving the oscillation periods of the unsteady flow were noted. The results show that both steady and unsteady vortex breakdown occur for a limited range of Re above Re(sub c). Also, with increasing Re, complex flow transformations take place that alter the period at which the unsteady flow oscillates.

Stevens, J. L.↗

DOE OSTI2023

A Gradual Decline of Star Formation since Cluster Infall: New Kinematic Insights into Environmental Quenching at 0.3 < z < 1.1

The environments where galaxies reside crucially shape their star formation histories. We investigate a large sample of 1626 cluster galaxies located within 105 galaxy clusters spanning a large range in redshift (0.26 < z < 1.13). The galaxy clusters are massive (M 500 ≳ 2 × 10 14 M ⊙ ) and uniformly selected from the SPT and ACT Sunyaev–Zel'dovich surveys. With spectra in hand for thousands of cluster members, we use the galaxies' position in projected phase space as a proxy for their infall times, which provides a more robust measurement of environment than quantities such as projected clustercentric radius. We find clear evidence for a gradual age increase of the galaxy's mean stellar populations (~0.71 ± 0.4 Gyr based on a 4000 Å break, D n 4000) with the time spent in the cluster environment. This environmental quenching effect is found regardless of galaxy luminosity (faint or bright) and redshift (low or high-z), although the exact stellar age of galaxies depends on both parameters at fixed environmental effects. Such a systematic increase of D n 4000 with infall proxy would suggest that galaxies that were accreted into hosts earlier were quenched earlier due to longer exposure to environmental effects such as ram pressure stripping and starvation. Compared to the typical dynamical timescales of 1–3 Gyr of cluster galaxies, the relatively small age increase (~0.71 ± 0.4 Gyr) found in our sample galaxies seems to suggest that a slow environmental process such as starvation is the dominant quenching pathway. Our results provide new insights into environmental quenching effects spanning a large range in cosmic time (~5.2 Gyr, z = 0.26–1.13) and demonstrate the power of using a kinematically derived infall time proxy.

79 ASTRONOMY AND ASTROPHYSICS↗

NASA NTRS1994

NASA Goddard Earth Sciences Graduate Student Program

The evolution of synoptic-scale dynamics associated with a middle and upper tropospheric cloud event that occurred on 26 November 1991 is examined. The case under consideration occurred during the FIRE CIRRUS-II Intensive Field Observing Period held in Coffeyville, KS during Nov. and Dec., 1991. Using data from the wind profiler demonstration network and a temporally and spatially augmented radiosonde array, emphasis is given to explaining the evolution of the kinematically-derived ageostrophic vertical circulations and correlating the circulation with the forcing of an extensively sampled cloud field. This is facilitated by decomposing the horizontal divergence into its component parts through a natural coordinate representation of the flow. Ageostrophic vertical circulations are inferred and compared to the circulation forcing arising from geostrophic confluence and shearing deformation derived from the Sawyer-Eliassen Equation. It is found that a thermodynamically indirect vertical circulation existed in association with a jet streak exit region. The circulation was displaced to the cyclonic side of the jet axis due to the orientation of the jet exit between a deepening diffluent trough and building ridge. The cloud line formed in the ascending branch of the vertical circulation with the most concentrated cloud development occurring in conjunction with the maximum large-scale vertical motion. The relationship between the large scale dynamics and the parameterization of middle and upper tropospheric clouds in large-scale models is discussed and an example of ice water contents derived from a parameterization forced by the diagnosed vertical motions and observed water vapor contents is presented.

Ackerman, Thomas P.↗

NASA NTRS1994

Extended field observations of cirrus clouds using a ground-based cloud observing system

Ackerman, Thomas P.↗

NASA NTRS2016

The Viability of Trajectory Analysis for Diagnosing Dynamical and Chemical Influences on Ozone Concentrations in the UTLS

The viability of trajectory analysis for diagnosing the interplay between chemistry and dynamics is investigated by comparing ozone mixing ratios modelled using air-parcel pathways to values observed along flight tracks during ATTREX (Airborne Tropical TRopopause EXperiment). Trajectories are initiated at the locations of ozone observations and tracked backward in time to their sources at termini of backward trajectories. The modelled values of ozone utilize 3-dimensional analysis fields from WACCM (Whole Atmosphere Community Climate Model) (a chemical-climate model with dynamical fields nudged towards MERRA (Modern-Era Retrospective Analysis and Research Applications) reanalysis) and ERA-interim (product of ECMWF - the European Centre for Medium-Range Weather Forecasts) to determine source mixing ratios with chemical production and loss terms derived from the ozone chemistry used in WACCM. A statistical base of modelled ozone is constructed with 6 trajectory platforms (adiabatic, diabatic, and kinematic forced by ERA-interim and MERRA), two chemical models (WACCM chemistry and no chemistry), and 4 trajectory lengths (5, 10, 20, and 30 days). Linear regression is employed to separate systematic errors from random errors and to characterize the impact of source mixing ratios, path length, vertical motion, and chemistry on modelled ozone errors. Errors in the analysis ozone fields are large, if not dominant, contributors to model error. Random errors are particularly large for point-by-point comparisons, however averaging over 800 km (75 minutes) flight segments substantially reduces random error and exposes systematic errors. Of the two analysis ozone data sets, WACCM, which incorporates detailed chemistry, provides the smaller systematic errors while ERA-interim, which has crude chemistry but assimilates observational data, has the smaller random errors. Of the different trajectory platforms, adiabatic calculations produce the smaller random errors (irrespective of the use of chemistry) but both vertical motion and chemistry are required to optimally reduce systematic errors. These results suggest that meaningful analysis of dynamical and chemical interactions that control ozone mixing ratios are viable on spatial scales larger than a few reanalysis grid spaces, that errors in the analyzed ozone data sets are large but not prohibitively so, and that vertical velocities and heating rates from reanalysis data, while problematic, contain useful information [on the ozone concentrations in the UTLS (Upper Troposphere/Lower Stratosphere)].

ozone↗

DOE OSTI2022

On extraction of twist-two Compton form factors from DVCS observables through harmonic analysis

We investigate the exercise of locally extracting the real and imaginary parts of the four twist-2 Compton form factors (CFFs) {$\mathcal{H,E,\tilde H,\tilde E}$} which arise in the deeply virtual Compton scattering (DVCS) process e + p → e + p + y. Neglecting dynamical higher-twist contributions, we find that there are a sufficient number of DVCS observables and degrees of freedom to extract all 8 leading quantities model-independently, exploiting the azimuthal dependence of the absolute cross sections across all possible beam and target polarizations at a common kinematical point in {Q, t,x b , y}. As an example, for typical JLab lab-frame kinematics, we simplify the reduced DVCS observables to their dominant terms, providing a sufficient number of equations for local determination of the twist-2 CFFs. We demonstrate the feasibility using harmonic fitting to both cross sections and beam spin asymmetries with both real and pseudo-data.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

NASA NTRS1976

Influence of planetary-scale topography on the diurnal thermal tide during the 1971 Martian dust storm

Data obtained with the Mariner 9 infrared spectroscopy experiment during the Martian Dust Storm of 1971 to 1972 are examined for evidence of topographic influence on the atmospheric thermal structure. Temperature perturbations which are well correlated with the planetary scale topography are found superposed on the large amplitude diurnal thermal tide. Applications of tidal theory to the data indicate that the observed perturbations result from the kinematic interaction of the westward traveling diurnal wave with the large scale components of topography. The dominant mode is excited by the wave-number two topography component and is a vertically evanescent eastward traveling wave with an equivalent depth comparable to the atmospheric scale height. The principle dynamic effect of this mode is the enhancement of the amplitude of the near-surface diurnal wind to over 40m/sec in limited areas near 30 deg south latitude. It appears likely that dust was injected into the atmosphere in these regions during the storm.

Conrath, B. J.↗

NASA NTRS1976

Influence of planetary-scale topography on the diurnal thermal tide during the 1971 Martian dust storm

Data obtained with the Mariner 9 infrared spectroscopy experiment during the Martian dust storm of 1971-72 are examined for evidence of topographic influence on the atmospheric thermal structure. Temperature perturbations which are well correlated with the planetary-scale topography are found superposed on the large-amplitude diurnal thermal tide previously reported. Applications of tidal theory to the data indicate that the observed perturbations result from the kinematic interaction of the westward traveling diurnal wave with the large-scale components of topography. The dominant mode is excited by the wavenumber 2 topography component and is a vertically evanescent, eastward traveling wave with an equivalent depth comparable to the atmospheric-scale height. The principle dynamic effect of this mode is the enhancement of the amplitude of the near-surface diurnal wind to over 40 m/s in limited areas near 30 deg S latitude. Thus, it appears likely that dust was injected into the atmosphere in these regions during the storm. Other waves excited include vertically propagating modes which produce little effect in the lower atmosphere, but may represent a source of energy for the upper atmosphere during dust storm conditions.

Conrath, B. J.↗

NASA NTRS1988

Cooperative control of two arms in the transport of an inertial load in zero gravity

In designing a robot control system for dual arm configurations, the control engineer is faced with two challenges: to derive the equations of motion for a given situation, and to meet certain desired control requirements (for instance, minimum energy). The former may involve closed kinematic chains, such as the case when the two arms are grasping a common object. The latter usually involves nonlinear optimization. These issues are considered in the context of transporting an inertial load using two planar three-link arms. A generalized 'reduction transformation' is applied to the dynamics to remove the singularity in the system equations. A suboptimal minimum energy method is presented to reduce a difficult 12-state, six-control nonlinear optimization to two independent, nonconflicting suboptimizations. A simulation example is provided to illustrate the degree of energy reduction possible using the optimal arm torque distribution that was developed.

Carignan, Craig R.↗

DOE OSTI2025

Exploring the Nucleon Structure via Deep Electroproduction Processes

Understanding the internal structure of the nucleon is a fundamental goal of modern physics, which aims at a comprehensive framework describing the internal dynamics of quarks and gluons. Among other structure functions, Generalized Parton Distributions (GPDs) offer a powerful framework for describing the nucleon dynamics by correlating the longitudinal momentum and the transverse position of its internal partons. Such a correlation provides a three-dimensional picture of the nucleon and enables access to fundamental properties, including the internal pressure distributions and the parton’s angular momentum contribution to the nucleon's total spin, thereby playing a central role in resolving the nucleon spin puzzle. At the Thomas Jefferson National Facility (JLab), polarized electron beam experiments allow for probing GPDs through the measurement of hard exclusive processes. Among the cleanest experimental channels, we find the electro-production of a real photon through the Deeply Virtual Compton Scattering (DVCS) mechanism. The first data-taking period of the CLAS12 program, taking place in 2018, allowed for unique DVCS Beam Spin Asymmetry (BSA) measurements in the phase space covered by a 10.6 GeV polarized electron beam impinging on an unpolarized liquid hydrogen target. Although detecting all final-state particles ensures exclusivity of the process, conservation laws indicate that it is not mandatory. I adopt an approach omitting the direct detection of the recoil proton, providing a simplified yet effective event selection strategy that boosts statistics and gives access to a larger phase space sensitive to the underlying GPD dynamics through BSA and cross section measurements. The Double DVCS (DDVCS) process promises a dedicated mapping of GPDs. Contributing to the electro-production of a lepton pair cross-section, the DDVCS reaction extends DVCS by allowing the final-state photon to be virtual, enriching the kinematic phase space and providing unique access to the internal correlations encoded by GPDs. A feasibility study is conducted to assess the potential of future DDVCS measurements at Jefferson Lab and the future Electron-Ion Collider (EIC). While Jefferson Lab will provide DDVCS measurements in the valence region through the SoLID$\mu$ and $\mu$CLAS12 experimental projects, in the long term, the EIC will provide complementary measurements in the sea region, both accessing unprecedented information about GPDs in a phase space region otherwise inaccessible. Taken together, these investigations demonstrate both the current capabilities and future opportunities for probing GPDs through exclusive processes. The experimental analysis of DVCS at CLAS12 provides precise measurements within an established framework, while the phenomenological study of DDVCS opens the door to richer and more comprehensive explorations with future detectors and facilities.

Alvarado, Juan [Université Paris-Saclay: Gif-sur-Y↗

NASA NTRS1990

H I studies of the sculptor group galaxies

Results from large-scale mapping of the H I gas in the Sculptor group are presented. From this kinematic analysis, a mean global (M/L sub B) approx. equals 9 solar maximum/solar luminosity (at the last observed velocity point) is found for the individual galaxies. This is only a factor approx. 10 smaller than the (M/L sub B) dyn approx. equals 90 solar maximum/solar luminosity derived from a dynamical study of the whole group. The parameters derived from the mass models suggest that most of the unseen matter has to be concentrated around the luminous galaxies. Under the assumption that the Sculptor group is a virialized system and that all the mass is associated with the galaxies, an upper limit of approx. 40 kpc is derived for the size of the dark halos present in the five late-type spirals of the group.

Carignan, Claude↗