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At least 757 records · Page 42
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NASA NTRS1990

General Rotorcraft Aeromechanical Stability Program (GRASP): Theory manual

The general rotorcraft aeromechanical stability program (GRASP) was developed to calculate aeroelastic stability for rotorcraft in hovering flight, vertical flight, and ground contact conditions. GRASP is described in terms of its capabilities and its philosophy of modeling. The equations of motion that govern the physical system are described, as well as the analytical approximations used to derive them. The equations include the kinematical equation, the element equations, and the constraint equations. In addition, the solution procedures used by GRASP are described. GRASP is capable of treating the nonlinear static and linearized dynamic behavior of structures represented by arbitrary collections of rigid-body and beam elements. These elements may be connected in an arbitrary fashion, and are permitted to have large relative motions. The main limitation of this analysis is that periodic coefficient effects are not treated, restricting rotorcraft flight conditions to hover, axial flight, and ground contact. Instead of following the methods employed in other rotorcraft programs. GRASP is designed to be a hybrid of the finite-element method and the multibody methods used in spacecraft analysis. GRASP differs from traditional finite-element programs by allowing multiple levels of substructure in which the substructures can move and/or rotate relative to others with no small-angle approximations. This capability facilitates the modeling of rotorcraft structures, including the rotating/nonrotating interface and the details of the blade/root kinematics for various types. GRASP differs from traditional multibody programs by considering aeroelastic effects, including inflow dynamics (simple unsteady aerodynamics) and nonlinear aerodynamic coefficients.

Hodges, Dewey H.↗
NASA NTRS1990

Current star formation in S0 galaxies: NGC 4710

Elliptical (E) and lenticular (S0) galaxies lack the substantial interstellar medium (ISM) found in the star-forming spiral galaxies. However, significant numbers of E and S0 galaxies are known to contain detectable amounts of interstellar matter (e.g., Jura 1988). Thus, it is worth investigating whether these galaxies are currently able to form stars from their ISM, or whether they should be consigned to the dustbin of inert objects (Thronson and Bally 1987). The results strongly imply that current star formation is responsible for NGC 4710's far infrared and radio continuum properties. If this is indeed the case, then one expects this star formation to be fueled by molecular gas, which is presumably dominated by H2 and can be traced by the CO-12 J=1 to 0 line. Both Kenney and Young (1988) and Sage and Wrobel (1989) have detected such an emission line from NGC 4710, and infer the presence of more than 10(exp 8) solar mass of H2. The origin of the molecular gas in NGC 4710 remains a mystery. The galaxy is very deficient in HI (Kenney and Young, in preparation), suggesting that it originally was a spiral galaxy from which the outer, mainly atomic, gas was stripped by the ram pressure of the Virgo Cluster's intracluster medium, leaving only a central interstellar medium (ISM) rich in molecular gas. Alternatively, the CO may have originated via stellar mass loss with subsequent cooling, cooling flows, or capture from a gas-rich companion. Information on the morphology and kinematics of the CO can be compared with that of the galaxy's other gases and stars to distinguish among these various possible origins for the molecular gas. Major axis CO mapping with single dishes indicate an unresolved source. Thus, a millimeter array is currently being used to image NGC 4710 in CO to provide the needed morphological and kinematical data.

Wrobel, J. M.↗
NASA NTRS1990

Local sensory control of a dexterous end effector

A numerical scheme was developed to solve the inverse kinematics for a user-defined manipulator. The scheme was based on a nonlinear least-squares technique which determines the joint variables by minimizing the difference between the target end effector pose and the actual end effector pose. The scheme was adapted to a dexterous hand in which the joints are either prismatic or revolute and the fingers are considered open kinematic chains. Feasible solutions were obtained using a three-fingered dexterous hand. An algorithm to estimate the position and orientation of a pre-grasped object was also developed. The algorithm was based on triangulation using an ideal sensor and a spherical object model. By choosing the object to be a sphere, only the position of the object frame was important. Based on these simplifications, a minimum of three sensors are needed to find the position of a sphere. A two dimensional example to determine the position of a circle coordinate frame using a two-fingered dexterous hand was presented.

Pinto, Victor H.↗
NASA NTRS1991

Development of advanced control schemes for telerobot manipulators

To study space applications of telerobotics, Goddard Space Flight Center (NASA) has recently built a testbed composed mainly of a pair of redundant slave arms having seven degrees of freedom and a master hand controller system. The mathematical developments required for the computerized simulation study and motion control of the slave arms are presented. The slave arm forward kinematic transformation is presented which is derived using the D-H notation and is then reduced to its most simplified form suitable for real-time control applications. The vector cross product method is then applied to obtain the slave arm Jacobian matrix. Using the developed forward kinematic transformation and quaternions representation of the slave arm end-effector orientation, computer simulation is conducted to evaluate the efficiency of the Jacobian in converting joint velocities into Cartesian velocities and to investigate the accuracy of the Jacobian pseudo-inverse for various sampling times. In addition, the equivalence between Cartesian velocities and quaternion is also verified using computer simulation. The motion control of the slave arm is examined. Three control schemes, the joint-space adaptive control scheme, the Cartesian adaptive control scheme, and the hybrid position/force control scheme are proposed for controlling the motion of the slave arm end-effector. Development of the Cartesian adaptive control scheme is presented and some preliminary results of the remaining control schemes are presented and discussed.

Nguyen, Charles C.↗
NASA NTRS1990

Experiments in cooperative-arm object manipulation with a two-armed free-flying robot

Developing computed-torque controllers for complex manipulator systems using current techniques and tools is difficult because they address the issues pertinent to simulation, as opposed to control. A new formulation of computed-torque (CT) control that leads to an automated computer-torque robot controller program is presented. This automated tool is used for simulations and experimental demonstrations of endpoint and object control from a free-flying robot. A new computed-torque formulation states the multibody control problem in an elegant, homogeneous, and practical form. A recursive dynamics algorithm is presented that numerically evaluates kinematics and dynamics terms for multibody systems given a topological description. Manipulators may be free-flying, and may have closed-chain constraints. With the exception of object squeeze-force control, the algorithm does not deal with actuator redundancy. The algorithm is used to implement an automated 2D computed-torque dynamics and control package that allows joint, endpoint, orientation, momentum, and object squeeze-force control. This package obviates the need for hand-derivation of kinematics and dynamics, and is used for both simulation and experimental control. Endpoint control experiments are performed on a laboratory robot that has two arms to manipulate payloads, and uses an air bearing to achieve very-low drag characteristics. Simulations and experimental data for endpoint and object controllers are presented for the experimental robot - a complex dynamic system. There is a certain rather wide set of conditions under which CT endpoint controllers can neglect robot base accelerations (but not motions) and achieve comparable performance including base accelerations in the model. The regime over which this simplification holds is explored by simulation and experiment.

Koningstein, Ross↗
NASA NTRS1991

A study of space-rated connectors using a robotic end-effector

The fabrication and testing of a pair of robot fingers designed to grasp two types of Orbital Replacement Unit (ORU) interfaces, the H Handle type and the Micro Square type are discussed. A closed-form solution is given for the force inverse kinematics. A numerical solution using the Newton-Raphson Method for force forward kinematics is given. Mathematical expressions are derived to compute forces/torques applied to the finger. Suggestions are given for improving finger fabrication. The results of numerous experiments conducted to study the characteristics and feasibility of the fingers are given. The first part of the study was devoted to obtaining data on the forces applied by the finger to the interfaces under various translational and rotational misalignments; the second part was devoted to determining the maximum allowed capture angles that would insure successful mating; and the third part was devoted to the processing and interpretation of the forces/torque data.

Nguyen, Charles C.↗
NASA NTRS1990

Stability and slosh wave for rotating bubble due to gravity-jitters under microgravity

Time-dependent fluid behaviors in microgravity environments are examined with particular attention given to the dynamics of bubble configurations. The initial bubble profiles, computed from the steady-state formulation, are used as the initial input for the time dependent computation. The parameters considered are liquid density and its kinematic viscosity, gas density and its kinematic viscosity, surface tension coefficient, angular velocity, and gravity environment. This computer algorithm can be used to simulate the fluid behavior in a microgravity environment, in particular the excitation of slosh waves due to different frequencies of gravity jitters. Results show that lower-frequency gravity jitters excite slosh waves with a higher ratio of maximum amplitude to wave length than that of the slosh waves generated by the higher frequency gravity jitters.

Hung, R. J.↗
NASA NTRS1990

New observations and a photographic atlas of polar-ring galaxies

A photographic atlas of polar-ring galaxies and related objects is presented. The atlas includes kinematically confirmed polar-ring galaxies (category A), good candidates based on their morphological appearance (category B), possible candidates (category C), and possibly related objects (category D). New photometric and kinematic observations are reported for several galaxies in the catalog, including observations that show that UGC 7576 and UGC 9796 ( = II ZW 73) are S0 galaxies with polar rings. Roughly 0.5 percent of all nearby S0 galaxies appear to have polar rings. When corrected for various selection effects (e.g., nonoptimal viewing orientation, possible dimming, or limited lifetime of the ring) the percentage increases to about 5 percent of S0 galaxies which have, or have had a polar ring.

Whitmore, Bradley C.↗
NASA NTRS1990

Exploration of unknown mechanical assemblies through manipulation

If robots must function in unstructured environments, they must also possess the ability to acquire information and construct appropriate models of the unknown environment. This paper addresses the automatic generation of kinematic models of unknown objects with movable parts in the environment. If the relative motion between moving parts must be observed and characterized, vision alone cannot suffice. An approach in which manipulation is used with vision for sensing is better suited to the task of determining kinematic properties. In this paper, algorithms for constructing models of unknown mechanical assemblies and characterizing the relative motion are developed. Results of a simulation are described to demonstrate the role of manipulation in such an endeavor.

Kumar, Vijay R.↗
NASA NTRS1990

FACE computer simulation

A computer simulation of the FACE (Flexible Arm Controls Experiment) was conducted to assess its design for use in the Space Shuttle. The FACE is supposed to be a 14-ft long articulate structure with 4 degrees of freedom, consisting of shoulder pitch and yaw, elbow pitch, and wrist pitch. Kinematics of the FACE was simulated to obtain data on arm operation, function, workspace and interaction. Payload capture ability was modeled. The simulation indicates the capability for detailed kinematic simulation and payload capture ability analysis, and the feasibility of real-time simulation was determined. In addition, the potential for interactive real-time training through integration of the simulation with various interface controllers was revealed. At this stage, the flexibility of the arm was not yet considered.

Sadeh, Willy Z.↗
NASA NTRS1991

Deformation mechanisms in negative Poisson's ratio materials - Structural aspects

Poisson's ratio in materials is governed by the following aspects of the microstructure: the presence of rotational degrees of freedom, non-affine deformation kinematics, or anisotropic structure. Several structural models are examined. The non-affine kinematics are seen to be essential for the production of negative Poisson's ratios for isotropic materials containing central force linkages of positive stiffness. Non-central forces combined with pre-load can also give rise to a negative Poisson's ratio in isotropic materials. A chiral microstructure with non-central force interaction or non-affine deformation can also exhibit a negative Poisson's ratio. Toughness and damage resistance in these materials may be affected by the Poisson's ratio itself, as well as by generalized continuum aspects associated with the microstructure.

Lakes, R.↗
NASA NTRS1991

Descriptions of the neutral gas outflow in Comets P/Halley and Wilson (1987 VII) from analyses of velocity-resolved H2O line profiles

The spatial distribution and expansion velocity of the Comets Wilson (1987 VII) and pre- and postperihelion P/Halley are derived on the bases of velocity-resolved H2O spectral line profiles, using a kinematic model which synthesizes line profiles for comparison with observed line shapes. The results thus obtained demonstrate that the spherically symmetric outflow at constant velocity is a poor characterization of cometary neutral-gas outflow. While the radial dependence of the H2O expansion velocity is noted to be consistent with theoretically envisioned trends, the high H2O outflow velocity observed in Comet Wilson resists reconciliation with any existing kinematic model.

Larson, Harold P.↗
NASA NTRS1991

A spatial operator algebra for manipulator modeling and control

A recently developed spatial operator algebra for manipulator modeling, control, and trajectory design is discussed. The elements of this algebra are linear operators whose domain and range spaces consist of forces, moments, velocities, and accelerations. The effect of these operators is equivalent to a spatial recursion along the span of a manipulator. Inversion of operators can be efficiently obtained via techniques of recursive filtering and smoothing. The operator algebra provides a high-level framework for describing the dynamic and kinematic behavior of a manipulator and for control and trajectory design algorithms. The interpretation of expressions within the algebraic framework leads to enhanced conceptual and physical understanding of manipulator dynamics and kinematics.

Rodriguez, G.↗
NASA NTRS1990

Correction to absolute proper motion using the IAS-Galaxy model

The IAS-Galaxy (IASG) model is a software interface between theoretical models of the Galaxy and observed kinematic distributions. It has been developed for analysis of many kinematic catalogs to study global galactic structure. In addition, the IASG model can be used to estimate corrections needed to derive absolute parallax and absolute proper motion by evaluating, on a star-by-star basis, the expected mean motion of the reference stars. A theoretical Galaxy model is defined on an inertial coordinate frame. Proper motions are measured in a reference frame defined by a fundamental catalog. The observed distribution of proper motions in star catalogs can be directly compared with the expected distributions evaluated using IASG to check the accuracy of the adopted reference frame in realizing the inertial coordinate frame in the sky.

Ratnatunga, Kavan U.↗
NASA NTRS1992

High-Precision Coupling Mechanism Operable By Robots

Coupling mechanism has features making it easily operable by hand and suitable for operation by robots: tolerates some initial misalignment, imposes precise final alignment, and protects itself against overtightening. Typically used to mount equipment module on structure. Mechanism includes kinematic mounts, which tolerate small initial misalignment and enforce precise final alignment as two assemblies brought together. Clamping force applied to kinematic mounts via two flexible plates. Bolt and nut tightened on flexible plates to impose spring clamping load. Repeatability of interface tested and found to be better than forty-millionths of inch.

Voellmer, George↗
NASA NTRS1991

An assessment of the crustal remelting hypothesis for volcanism in the Freyja Montes deformation zone

The linear mountain belts of Ishtar Terra on Venus are notable for their topographic relief and slope and for the intensity of surface deformation. The mountains surround the highland plain Lakshmi Planum, the site of two major paterae and numerous other volcanic features and deposits, and evidence is widespread for volcanism within the mountains and in terrain immediately outward of the mountain belt units. While two hypotheses for magmatism can be distinguished on the basis of the chemistry of the melts, chemical data are presently lacking for the Ishtar region. The competing hypotheses for magmatism in Western Ishtar Terra can also be tested with thermal models, given a kinematic or dynamic model for the evolution of the region. The crustal remelting hypothesis is assessed, using the kinematic scenario of Head for the evolution of Freyja Montes. In that scenario, Freyja Montes formed by a sequence of large scale underthrusts of the lithosphere of the North Polar Plains beneath Ishtar Terra, with successive blocks of underthrust crust sutured in imbricate fashion onto the thickened crust of Lakshmi Planum and the mantle portion of underthrusting lithosphere episodically detached. The numerical experiments thus show that volcanic activity associated with the formation of the Frejya Montes deformation zone can be explained by crustal melting, due either to direct contact of crustal material with the hot asthenosphere or to heat generation in a thickened crustal layer.

Namiki, Noriyuki↗
NASA NTRS1991

Studies in planetary rings

Progress made in research devoted to examining Voyager imaging data for the purpose of understanding the kinematics and dynamics of the Neptune ring arcs is reported. It was found that a radial distortion of amplitude 30 km is traveling through the arcs with a perturbation by the nearby satellite 1989N4. Two new and smaller arcs within the outer Neptunian ring were also discovered. The longitudinal spacing of all arcs is roughly that expected for corotational arc shepherding by 1989N4 provided that not all corotation sites in the arc region are filled. The semimajor axis of the arcs' orbit inferred from their observed mean motion and the latest Neptune gravitational parameters is, within uncertainties, identical to the location of the 42:43 corotation-inclination resonance of 1989N4: an observation which supports the notion of corotational arc-shepherding. This hypothesis also explains that the 15 km radial width of the arcs are due to a spread in forced orbital eccentricities. Clumps within the arcs were observed at a greater frequency than previously reported. These features may be the manifestation of big bodies within the arcs providing a source of ring dust, or they may be a kinematical effect associated with the crossing of eccentric orbits at quadrature. The inclusion of ground based observations of the arcs taken up to five years ago will lengthen the baseline over which arc dynamics may be studied and should lead to a refinement in the position of the Neptune spin and invariable plane poles.

Porco, Carolyn C.↗
NASA NTRS1990

A unified motion planning approach for redundant and non-redundant manipulators with actuator constraints

The term trajectory planning has been used to refer to the process of determining the time history of joint trajectory of each joint variable corresponding to a specified trajectory of the end effector. The trajectory planning problem was solved as a purely kinematic problem. The drawback is that there is no guarantee that the actuators can deliver the effort necessary to track the planned trajectory. To overcome this limitation, a motion planning approach which addresses the kinematics, dynamics, and feedback control of a manipulator in a unified framework was developed. Actuator constraints are taken into account explicitly and a priori in the synthesis of the feedback control law. Therefore the result of applying the motion planning approach described is not only the determination of the entire set of joint trajectories but also a complete specification of the feedback control strategy which would yield these joint trajectories without violating actuator constraints. The effectiveness of the unified motion planning approach is demonstrated on two problems which are of practical interest in manipulator robotics.

Chung, Ching-Luan↗