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At least 775 records · Page 43

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NASA NTRS1993

Things that go bump in the light - On the optical specification of contact severity

Psychologists are intrigued with the idea that optical variables can specify not only the time until an object impacts an observer but also the severity of the impact. However, the mapping between the optical variables and the kinematic variables has been misstated, erroneously implying that there exist critical values of the optical variables used for locomotion and control. In this commentary, the mathematical relationship between the optical and kinematic variables is reexamined and the erroneous assumptions that have led to the proposal of critical values are shown. Also examined are the empirical data on deceleration to approach to assess whether the proposed optical variables are likely candidates for control strategies. Finally, problems associated with numerical approximations to dynamic systems, particularly when analytic solutions exist, are discussed.

Kaiser, Mary K.↗

NASA NTRS2004

Applications of Computational Methods for Dynamic Stability and Control Derivatives

Initial steps in the application o f a low-order panel method computational fluid dynamic (CFD) code to the calculation of aircraft dynamic stability and control (S&C) derivatives are documented. Several capabilities, unique to CFD but not unique to this particular demonstration, are identified and demonstrated in this paper. These unique capabilities complement conventional S&C techniques and they include the ability to: 1) perform maneuvers without the flow-kinematic restrictions and support interference commonly associated with experimental S&C facilities, 2) easily simulate advanced S&C testing techniques, 3) compute exact S&C derivatives with uncertainty propagation bounds, and 4) alter the flow physics associated with a particular testing technique from those observed in a wind or water tunnel test in order to isolate effects. Also presented are discussions about some computational issues associated with the simulation of S&C tests and selected results from numerous surface grid resolution studies performed during the course of the study.

Green, Lawrence L.↗

NASA NTRS1998

Efficient dynamic constraints for animating articulated figures

This paper presents an efficient dynamics-based computer animation system for simulating and controlling the motion of articulated figures. A non-trivial extension of Featherstone's O(n) recursive forward dynamics algorithm is derived which allows enforcing one or more constraints on the animated figures. We demonstrate how the constraint force evaluation algorithm we have developed makes it possible to simulate collisions between articulated figures, to compute the results of impulsive forces, to enforce joint limits, to model closed kinematic loops, and to robustly control motion at interactive rates. Particular care has been taken to make the algorithm not only fast, but also easy to implement and use. To better illustrate how the constraint force evaluation algorithm works, we provide pseudocode for its major components. Additionally, we analyze its computational complexity and finally we present examples demonstrating how our system has been used to generate interactive, physically correct complex motion with small user effort.

NASA Discipline Space Human Factors↗

DOE OSTI2024

Asymmetric drift in MaNGA: mass and radially dependent stratification rates in galaxy discs

ABSTRACT We measure the age–velocity relationship from the lag between ionized gas and stellar tangential speeds in ∼500 nearby disc galaxies from MaNGA in Sloan Digital Sky Survey IV (SDSS-IV). Selected galaxies are kinematically axisymmetric. Velocity lags are asymmetric drift, seen in the Milky Way’s (MW) solar neighbourhood and other Local Group galaxies; their amplitude correlates with stellar population age. The trend is qualitatively consistent in rate ($\dot{\sigma }$) with a simple power-law model where σ ∝ tb that explains the dynamical phase-space stratification in the solar neighbourhood. The model is generalized based on disc dynamical times to other radii and other galaxies. We find in-plane radial stratification parameters σ0,r (dispersion of the youngest populations) in the range of 10–40 km s−1 and 0.2 < br < 0.5 for MaNGA galaxies. Overall, brincreases with galaxy mass, decreases with radius for galaxies above 10.4 dex (M⊙) in stellar mass, but is ∼constant with radius at lower mass. The measurement scatter indicates the stratification model is too simple to capture the complexity seen in the data, unsurprising given the many possible astrophysical processes that may lead to stellar population dynamical stratification. None the less, the data show dynamical stratification is broadly present in the galaxy population, with systematic trends in mass and density. The amplitude of the asymmetric drift signal is larger for the MaNGA sample than the MW, and better represented in the mean by what is observed in the discs of M31 and M33. Either typical discs have higher surface-density or, more likely, are dynamically hotter (hence thicker) than the MW.

Bershady, Matthew A. (ORCID:0000000231314374)↗

NASA NTRS1981

Wind energy system time-domain (WEST) analyzers

A portable analyzer which simulates in real time the complex nonlinear dynamics of horizontal axis wind energy systems was constructed. Math models for an aeroelastic rotor featuring nonlinear aerodynamic and inertial terms were implemented with high speed digital controllers and analog calculation. This model was combined with other math models of elastic supports, control systems, a power train and gimballed rotor kinematics. A stroboscopic display system graphically depicting distributed blade loads, motion, and other aerodynamic functions on a cathode ray tube is included. Limited correlation efforts showed good comparison between the results of this analyzer and other sophisticated digital simulations. The digital simulation results were successfully correlated with test data.

Dreier, M. E.↗

NASA NTRS2000

FACET: Future ATM Concepts Evaluation Tool

FACET (Future ATM Concepts Evaluation Tool) is an Air Traffic Management research tool being developed at the NASA Ames Research Center. This paper describes the design, architecture and functionalities of FACET. The purpose of FACET is to provide E simulation environment for exploration, development and evaluation of advanced ATM concepts. Examples of these concepts include new ATM paradigms such as Distributed Air-Ground Traffic Management, airspace redesign and new Decision Support Tools (DSTs) for controllers working within the operational procedures of the existing air traffic control system. FACET is currently capable of modeling system-wide en route airspace operations over the contiguous United States. Airspace models (e.g., Center/sector boundaries, airways, locations of navigation aids and airports) are available from databases. A core capability of FACET is the modeling of aircraft trajectories. Using round-earth kinematic equations, aircraft can be flown along flight plan routes or great circle routes as they climb, cruise and descend according to their individual aircraft-type performance models. Performance parameters (e.g., climb/descent rates and speeds, cruise speeds) are obtained from data table lookups. Heading, airspeed and altitude-rate dynamics are also modeled. Additional functionalities will be added as necessary for specific applications. FACET software is written in Java and C programming languages. It is platform-independent, and can be run on a variety of computers. FACET has been designed with a modular software architecture to enable rapid integration of research prototype implementations of new ATM concepts. There are several advanced ATM concepts that are currently being implemented in FACET airborne separation assurance, dynamic density predictions, airspace redesign (re-sectorization), benefits of a controller DST for direct-routing, and the integration of commercial space transportation system operations into the U.S. National Airspace System (NAS).

Bilmoria, Karl D.↗

NASA NTRS1982

Stable and rugged etalon for the Dynamics Explorer Fabry-Perot interferometer. II - Performance

The etalon is shown to remain stable to less than 5-m/sec equivalent wind over one orbit and less than 100 m/sec over several months in orbit. The thermal stability considerations for the highly stable etalon are discussed, including the passive thermal control used in flight. The various physical processes which give rise to drifts in the peak transmission wavelength are quantified, and the kinematic mount used to isolate the etalon from large incremental forces caused by changes in the thermal environment is presented. The performance of the etalon in its flight configuration is evaluated.

Killeen, T. L.↗

NASA NTRS1983

Interaction of the antarctic circumpolar current with bottom topography - An investigation using satellite altimetry

Theoretical studies on the interaction of a zonal current with a zonal ridge, an isolated bump, and a meridional ridge compare favorably with hydrographic observations within the eastward flowing Antarctic Circumpolar Current where it flows over similar topographic features. However, the existing hydrographic data are insufficient for examining the temporal stability and kinematic behavior of the resulting mesoscale structures. In this study, some of these transient features have been compared with patterns in sea surface variability, derived from collinear satellite altimetric data. When these features occurred near the crossing point of two satellite ground traces, it was possible to characterize their length scales, dynamic height relief, and translational and surface geostrophic velocities.

Colton, M. T.↗

DOE OSTI2025

$S^5$: Tidal Disruption in Crater 2 and Formation of Diffuse Dwarf Galaxies in the Local Group

We present results of a spectroscopic campaign around the diffuse dwarf galaxy Crater 2 (Cra2) and its tidal tails as part of the Southern Stellar Stream Spectroscopic Survey ($S^5$). Cra2 is a Milky Way dwarf spheroidal satellite with extremely cold kinematics, but a huge size similar to the Small Magellanic Cloud, which may be difficult to explain within collisionless cold dark matter. We identify 143 Cra2 members, of which 114 belong to the galaxy's main body and 29 are deemed part of its stellar stream. We confirm that Cra2 is dynamically cold (central velocity dispersion $2.51^{+0.33}_{-0.30}\,{\rm km\,s^{-1}}$) and also discover a $\approx$7$Ï$ velocity gradient consistent with its tidal debris track. We separately estimate the stream velocity dispersion to be $5.74^{+0.98}_{-0.83}\,{\rm km\,s^{-1}}$. We develop a suite of $N$-body simulations with both cuspy and cored density profiles on a realistic Cra2 orbit to compare with $S^5$ observations. We find that the velocity dispersion ratio between Cra2 stream and galaxy ($2.30^{+0.41}_{-0.35}$) is difficult to reconcile with a cuspy halo with fiducial concentration and an initial mass predicted by standard stellar mass$-$halo mass relationships. Instead, either a cored halo with relatively small core radius or a low-concentration cuspy model can reproduce this ratio. Despite tidal mass loss, Cra2 is metal-poor ($\langle \rm[Fe/H]\rangle=-2.16\pm0.04$) compared to the stellar mass$-$metallicity relation for its luminosity. Other diffuse dwarf galaxies similar to Cra2 in the Local Group (Antlia 2 and Andromeda 19) also challenge galaxy formation models. Finally, we discuss possible formation scenarios for Cra2, including ram-pressure stripping of a gas-rich progenitor combined with tides.

Limberg, Guilherme [Chicago U., KICP; Chicago U.] ↗

DOE OSTI2026

Online task-space motion control for positioner-coordinated multi-robot manufacturing systems

Incorporating multiple robotic manipulators into large-scale manufacturing systems enhances production efficiency and expands manufacturing capabilities beyond those of single-robot systems. Workpiece positioners in robotic manufacturing have demonstrated significant benefits for process optimization, but coordination strategies for multi-robot systems with shared positioners have received limited attention. This work presents a task-space coordinated trajectory-tracking control framework for multi-robot manufacturing systems, in which robots coordinate their motions within a shared, dynamic workpiece positioning frame. A workpiece positioner actively adjusts the pose of the manufactured component to enable greater operational concurrency and improve overall production efficiency. The proposed motion-coordination scheme employs a distributed and scalable architecture, supporting coordination across heterogeneous multi-robot systems. Two optimization methodologies are introduced to manage kinematic redundancies and maintain continuous, near-optimal operation throughout the manufacturing process. The first strategy exploits a task-space dimensionality reduction to achieve locally optimal configurations by leveraging symmetry-axis rotations of the tool. The second strategy utilizes the workpiece positioner to drive the coordinated robots toward stable and kinematically favorable configurations. For both optimization strategies, multiple objectives are defined to improve key performance metrics, including manipulability, configuration consistency, proximity to mechanical limits, and motion efficiency. Addressing a key limitation of existing coordination approaches, the framework is designed around online setpoint modification, allowing coordinated robots to respond effectively to in-situ process feedback. The proposed control framework is validated using the Robot Operating System (ROS) middleware on a combination of physical and simulated multi-robot system hardware.

Arbogast, Alex [ORNL] (ORCID:0000000154740723)↗

NASA NTRS1988

Thermoviscoplastic model with application to copper

A viscoplastic model is developed which is applicable to anisothermal, cyclic, and multiaxial loading conditions. Three internal state variables are used in the model; one to account for kinematic effects, and the other two to account for isotropic effects. One of the isotropic variables is a measure of yield strength, while the other is a measure of limit strength. Each internal state variable evolves through a process of competition between strain hardening and recovery. There is no explicit coupling between dynamic and thermal recovery in any evolutionary equation, which is a useful simplification in the development of the model. The thermodynamic condition of intrinsic dissipation constrains the thermal recovery function of the model. Application of the model is made to copper, and cyclic experiments under isothermal, thermomechanical, and nonproportional loading conditions are considered. Correlations and predictions of the model are representative of observed material behavior.

Freed, Alan D.↗

NASA NTRS1991

An extended Kalman filter for spinning spacecraft attitude estimation

An extended Kalman filter for real-time ground attitude estimation of a gyro-less spinning spacecraft was developed and tested. The filter state vector includes the angular momentum direction, phase angle, inertial nutation angle, and inertial and body nutation rates. The filter solves for the nutating three-axis attitude and accounts for effects due to principle axes offset from the body axes. The attitude is propagated using the kinematics of a rigid body symmetric about the principle spin axis; disturbance torques are assumed to be small. Filter updates consist only of the measured angles between celestial objects (Sun, Earth, etc.) and the nominal spin axis, and the times these angles were measured. Both simulated data and real data from the Dynamics Explorer -A (DE-A) spacecraft were used to test the filter; the results are presented. Convergence was achieved rapidly from a wide range of a priori state estimates, and sub-degree accuracy was attained. Systematic errors affecting the solution accuracy are discussed, as are the results of an attempt to solve for sensor measurement angle biases in the state vector.

Baker, David F.↗

NASA NTRS1993

Planar reorientation of a free-free beam in space using embedded electromechanical actuators

It is demonstrated that the planar reorientation of a free-free beam in zero gravity space can be accomplished by periodically changing the shape of the beam using embedded electromechanical actuators. The dynamics which determine the shape of the free-free beam is assumed to be characterized by the Euler-Bernoulli equation, including material damping, with appropriate boundary conditions. The coupling between the rigid body motion and the flexible motion is explained using the angular momentum expression which includes rotatory inertia and kinematically exact effects. A control scheme is proposed where the embedded actuators excite the flexible motion of the beam so that it rotates in the desired sense with respect to a fixed inertial reference. Relations are derived which relate the average rotation rate to the amplitudes and the frequencies of the periodic actuation signal and the properties of the beam. These reorientation maneuvers can be implemented by using feedback control.

Kolmanovsky, Ilya V.↗

DOE OSTI2023

QCD resummation of dijet azimuthal decorrelations in pp and pA collisions

We study the azimuthal angular decorrelations of dijet production in both proton-proton (pp) and proton-nucleus (pA) collisions. By utilizing soft-collinear effective theory, we establish the factorization and resummation formalism at the next-to-leading logarithmic accuracy for the azimuthal angular decorrelations in the back-to-back limit in pp collisions. We propose an approach where the nuclear modifications to dijet production in pA collisions are accounted for in the nuclear modified transverse momentum dependent parton distribution functions (nTMDPDFs), which contain both collinear and transverse dynamics. This approach naturally generalizes the well-established formalism related to the nuclear modified collinear parton distribution functions (nPDFs). We demonstrate strong consistency between our methodology and the CMS measurements in both pp and pA collisions, and make predictions for dijet production in the forward rapidity region in pA collisions at LHC kinematics and for mid-rapidity kinematics at sPHENIX. Throughout this paper, we focus on the application of this formalism to a simultaneous fit to both collinear and transverse momentum dependent contributions to the transverse momentum dependent distributions.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

NASA NTRS1976

Structural dynamics, stability, and control of helicopters

The dynamic synthesis of a helicopter is reported. The method of approach is a variation of the component mode synthesis in the sense that it regards the aircraft as an assemblage of interconnected substructures. The equations of motion are derived in general form by means of the Lagrangian formulation in conjunction with an orderly kinematical procedure that takes into account the superposition of motion of various substructures, thus circumventing constraint problems.

Meirovitch, L.↗

NASA NTRS1990

Intelligent manipulation technique for multi-branch robotic systems

New analytical development in kinematics planning is reported. The INtelligent KInematics Planner (INKIP) consists of the kinematics spline theory and the adaptive logic annealing process. Also, a novel framework of robot learning mechanism is introduced. The FUzzy LOgic Self Organized Neural Networks (FULOSONN) integrates fuzzy logic in commands, control, searching, and reasoning, the embedded expert system for nominal robotics knowledge implementation, and the self organized neural networks for the dynamic knowledge evolutionary process. Progress on the mechanical construction of SRA Advanced Robotic System (SRAARS) and the real time robot vision system is also reported. A decision was made to incorporate the Local Area Network (LAN) technology in the overall communication system.

Chen, Alexander Y. K.↗

DOE OSTI2022

CFD Simulation of Floating Body Motion with Mooring Dynamics: Coupling MoorDyn with OpenFOAM

It is increasingly popular to use Computational Fluid Dynamics (CFD) models to study floating structures subjected to ocean waves, especially when it comes to applications of floating offshore wind turbines and Wave Energy Converters (WECs). Mooring dynamics are currently lacking in most of these applications. This paper presents a coupled simulation study of moored floating body motion by coupling two open-source libraries: a finite volume CFD toolbox, OpenFOAM, and a lumped-mass mooring model, MoorDyn. The instantaneous floating body position and velocity are passed from the body motion solver in the CFD model to the mooring model to calculate the fairlead kinematics. The mooring reaction forces, which are calculated by MoorDyn after updating the mooring system states, are then returned to the body motion solver to update the floating body motion. Both mesh deformation and overset mesh methods are used as the mesh motion solver in the CFD model to account for the floating body motion. The coupled model was validated against experimental measurements for a floating box moored with four catenary lines under the action of regular waves, which came from a preliminary test campaign for WECs. Apart from the lumped-mass mooring model, the present work also coupled a quasi-static mooring model and a finite element model with the floating body motion solver in OpenFOAM. The mooring line tensions predicted by these models were compared. The coupled model equipped with three mooring line codes may be further used to carry out survivability studies of FOWTs and WECs subject to severe sea states.

floating body↗

DOE OSTI2022

Beam-recoil transferred polarization in $K^+Y$ electroproduction in the nucleon resonance region with CLAS12

We report beam-recoil transferred polarizations for the exclusive electroproduction of K + Λ and K + Σ 0 final states from an unpolarized proton target have been measured using the CLAS12 spectrometer at Jefferson Laboratory. The measurements at beam energies of 6.535 and 7.546 GeV span the range of four-momentum transfer Q 2 from 0.3 to 4.5 GeV 2 and invariant energy W from 1.6 to 2.4 GeV, while covering the full center-of-mass angular range of the K + . These new data extend the existing hyperon polarization data from CLAS in a similar kinematic range but from a significantly larger dataset. They represent an important addition to the world data, allowing for better exploration of the reaction mechanism in strangeness production processes, for further understanding of the spectrum and structure of excited nucleon states, and for improved insight into the strong interaction in the regime of nonperturbative dynamics.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗