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At least 793 records · Page 44
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NASA NTRS1992

MAGIK robotics simulation - A window on Space Station Freedom

The MAGIK program is the primary kinematic analysis tool used by the Robotic Systems group at MDSSC. It allows users to conduct man-in-the-loop analyses to evaluate space robotic operations, including reach, clearance, and accessibility. MAGIK can be used to model, specify, simulate, analyze, and modify n-jointed type manipulators and their respective control algorithms. The MAGIK simulation currently implements kinematic models of all robotic devices currently baselined on Space Station Freedom (SSF).

Read, David A.↗
NASA NTRS1993

Fast dynamos with finite resistivity in steady flows with stagnation points

Results are presented of a kinematic fast dynamo problem for two classes of steady incompressible flows: the ABC flow and the spatially aperiodic flow of Lau and Finn (1992). The numerical method used to find the solutions is described, together with convergence studies with respect to the time step and the number of points N of the spatial grid. It is shown that the growth rate and frequency can be extrapolated to N = infinity. Results are presented indicating that fast kinematic dynamos can exist in both these flows and that chaotic flow is a necessary condition. It was found that, for the ABC flow with A = B = C, there are two dynamo modes: an oscillating mode and a purely growing mode.

Lau, Yun-Tung↗
NASA NTRS1992

Human-like agents with posture planning ability

Human body models are geometric structures which may be ultimately controlled by kinematically manipulating their joints, but for animation, it is desirable to control them in terms of task-level goals. We address a fundamental problem in achieving task-level postural goals: controlling massively redundant degrees of freedom. We reduce the degrees of freedom by introducing significant control points and vectors, e.g., pelvis forward vector, palm up vector, and torso up vector, etc. This reduced set of parameters are used to enumerate primitive motions and motion dependencies among them, and thus to select from a small set of alternative postures (e.g., bend vs. squat to lower shoulder height). A plan for a given goal is found by incrementally constructing a goal/constraint set based on the given goal, motion dependencies, collision avoidance requirements, and discovered failures. Global postures satisfying a given goal/constraint set are determined with the help of incremental mental simulation which uses a robust inverse kinematics algorithm. The contributions of the present work are: (1) There is no need to specify beforehand the final goal configuration, which is unrealistic for the human body, and (2) the degrees of freedom problem becomes easier by representing body configurations in terms of 'lumped' control parameters, that is, control points and vectors.

Jung, Moon R.↗
NASA NTRS1992

Linear vestibuloocular reflex during motion along axes between nasooccipital and interaural

Linear vestibuloocular reflexes (LVORs), which stabilize retinal images by producing eye movements to compensate for linear head motion, are of two types: (1) responses to head tilt, which work primarily at low frequencies; and (2) responses to head translation, which act at higher frequencies. This work tested the hypothesis that reflexive eye movements would follow the same kinematics relative to the motion axis regardless of head orientation relative to linear motion. The experiments consisted of recording horizontal and vertical eye movements in squirrel monkeys during linear oscillations at 5 Hz along the head's nasooccipital (NO) axis and along axes lying within +/- 30 deg of the NO axis. It was found that LVORs followed the same kinematics regardless of the eye position in the head or the head orientation relative to motion.

Tomko, David L.↗
NASA NTRS1993

On the origin of the Z-shaped narrow-line region in the Seyfert galaxy NGC 3516

A kinematic study has been carried out of the line-emitting gas in the Seyfert galaxy NGC 3516. The existence of two curved filaments in the central 2.5 kpc of this galaxy, which give Z-shaped appearance to its NLR. A precessing twin-jet model in which the line-emitting material is entrained by a precessing radio jet and kept ionized by the nuclear ionization field can explain the kinematic data of the brightest emission rather well. If this model is valid, this would make NGC 3516 the least luminous known active galaxy with a precessing jet. An alternative scenario assumes that the curved inner filaments represent gas entrained by a radio jet which is deflected by ram pressure from the rotation interstellar medium of the galaxy.

Veilleux, Sylvain↗
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 NTRS1992

A new neural net approach to robot 3D perception and visuo-motor coordination

A novel neural network approach to robot hand-eye coordination is presented. The approach provides a true sense of visual error servoing, redundant arm configuration control for collision avoidance, and invariant visuo-motor learning under gazing control. A 3-D perception network is introduced to represent the robot internal 3-D metric space in which visual error servoing and arm configuration control are performed. The arm kinematic network performs the bidirectional association between 3-D space arm configurations and joint angles, and enforces the legitimate arm configurations. The arm kinematic net is structured by a radial-based competitive and cooperative network with hierarchical self-organizing learning. The main goal of the present work is to demonstrate that the neural net representation of the robot 3-D perception net serves as an important intermediate functional block connecting robot eyes and arms.

Lee, Sukhan↗
NASA NTRS1993

The inner-disk and stellar properties of the young stellar object WL 16

We present kinematic evidence for a rapidly rotating circumstellar disk around the young stellar object WL 16, based on new high-velocity-resolution data of the v = 2-0 CO bandhead emission. A Keplerian disk provides an excellent fit to the observed profile and requires a projected velocity for the CO-emitting region of roughly 250 km/s at the inner radius and 140 km/s at the outer radius, giving a ratio of the inner to the outer radius of about 0.3. We show that satisfying the constraints imposed by the gas kinematics, the observed CO flux, and the total source luminosity requires the mass of WL 16 to lie between 1.4 and 2.5 solar mass. The inner disk radius for the CO emission must be less than 8 solar radii.

Carr, John S.↗
NASA NTRS1993

Moisture and heat budgets of a cirrus cloud from aircraft measurements during FIRE

This study is based on the NCAR King Air aircraft and radiosonde observations on 31 October 1986 during the FIRE in Wisconsin over Oshkosh. Aircraft step-up and spiral descent flights are used to obtain kinematic and thermodynamic data. In the step-up maneuver, six different penetrations were made between 1528 and 1616 UTC. Each penetration was about 30 km long separated in the vertical by about 300 m. The time difference between the two spiral soundings was about 43 min. The aircraft descended at a rate of 1.5 m/s during these spiral soundings. Kinematic, cloud physical, and radiometric observations from various instruments are used to estimate the different terms in the moisture- and heat-budget equations. The results show that the advection terms, estimated using the mean longitudinal wind and vertical velocities, and radiative fluxes are important in forming budgets for the cirrus layers. Ice-crystal growth is significant in the upper layers. The maintenance of cirrus can be attributed to relatively warm and moist air advection, radiative cooling at upper levels, and moisture advection in the vertical. Turbulent heat and moisture fluxes are found to be significant in the low levels of cirrus.

Gultepe, Ismail↗
NASA NTRS1993

The helical decomposition and the instability assumption

Direct numerical simulations show that the triadic transfer function T(k,p,q) peaks sharply when q (or p) is much smaller than k. The triadic transfer function T(k,p,q) gives the rate of energy input into wave number k from all interactions with modes of wave number p and q, where k, p, q form a triangle. This observation was thought to suggest that energy is cascaded downscale through non-local interactions with local transfer and that there was a strong connection between large and small scales. Both suggestions were in contradiction with the classical Kolmogorov picture of the energy cascade. The helical decomposition was found useful in distinguishing between kinematically independent interactions. That analysis has gone beyond the question of non-local interaction with local transfer. In particular, an assumption about the statistical direction of triadic energy transfer in any kinematically independent interaction was introduced (the instability assumption). That assumption is not necessary for the conclusions about non-local interactions with local transfer recalled above. In the case of turbulence under rapid rotation, the instability assumption leads to the prediction that energy is transferred in spectral space from the poles of the rotation axis toward the equator. The instability assumption is thought to be of general validity for any type of triad interactions (e.g. internal waves). The helical decomposition and the instability assumption offer detailed information about the homogeneous statistical dynamics of the Navier-Stokes equations. The objective was to explore the validity of the instability assumption and to study the contributions of the various types of helical interactions to the energy cascade and the subgrid-scale eddy-viscosity. This was done in the context of spectral closures of the Direct Interaction or Quasi-Normal type.

Waleffe, Fabian A.↗
NASA NTRS1991

Control algorithm implementation for a redundant degree of freedom manipulator

This project's purpose is to develop and implement control algorithms for a kinematically redundant robotic manipulator. The manipulator is being developed concurrently by Odetics Inc., under internal research and development funding. This SBIR contract supports algorithm conception, development, and simulation, as well as software implementation and integration with the manipulator hardware. The Odetics Dexterous Manipulator is a lightweight, high strength, modular manipulator being developed for space and commercial applications. It has seven fully active degrees of freedom, is electrically powered, and is fully operational in 1 G. The manipulator consists of five self-contained modules. These modules join via simple quick-disconnect couplings and self-mating connectors which allow rapid assembly/disassembly for reconfiguration, transport, or servicing. Each joint incorporates a unique drive train design which provides zero backlash operation, is insensitive to wear, and is single fault tolerant to motor or servo amplifier failure. The sensing system is also designed to be single fault tolerant. Although the initial prototype is not space qualified, the design is well-suited to meeting space qualification requirements. The control algorithm design approach is to develop a hierarchical system with well defined access and interfaces at each level. The high level endpoint/configuration control algorithm transforms manipulator endpoint position/orientation commands to joint angle commands, providing task space motion. At the same time, the kinematic redundancy is resolved by controlling the configuration (pose) of the manipulator, using several different optimizing criteria. The center level of the hierarchy servos the joints to their commanded trajectories using both linear feedback and model-based nonlinear control techniques. The lowest control level uses sensed joint torque to close torque servo loops, with the goal of improving the manipulator dynamic behavior. The control algorithms are subjected to a dynamic simulation before implementation.

Cohan, Steve↗
NASA NTRS1993

Statistical analysis of trigonometric parallaxes

The present project was initiated with two specific medium-term goals: first, to develop a novel approach, based on global modeling and maximum likelihood, to the study of databases of stellar data, with specific attention to the results to be obtained by the Hipparcos mission; and second, to apply and test the methodology developed to existing ground-based data. The long-term goal was of course to integrate the methodology and the ground-based data into a global study of the results of the Hipparcos mission, which were expected to be made available in 1995 or 1996. The closing of the project is due to the recent change of home institution of the PI, who has moved from the University of Illinois to Johns Hopkins University. As a consequence of this move, the three scientists involved in this project will be in close proximity, thereby hopefully improving their ability to collaborate and increasing the productivity of the project. Continued funding for the project has been requested from Johns Hopkins University. This report describes briefly the results obtained so far both on the technical aspect of software development and on the scientific side of applications to existing ground-based data. Significant progress has been made on both counts, with several papers published in (or submitted to) refereed journals and in conference proceedings. Because it is hoped that the project can be successfully continued with NASA support, the report of the progress in each area includes also an assessment of how the current results fit in the expected continuation of the project. Our results to date include: code development (essentially completed); a detailed study of the kinematics and dynamics of stars escaping from the Hyades cluster, relevant to the question of membership in the Hyades; a study of the kinematics and luminosity calibration of nearby dwarfs; an assessment of the quality of the photometry included in the Hipparcos Input Catalog; and two studies of properties of nearby clusters, including a moving-cluster determination of the distance to Praesepe. The bibliography includes three papers submitted to refereed journals, two of which have already been published, and four contributions to conference proceedings. Finally, the work so far has also provided a very good introduction to stellar dynamics and astrometry for an undergraduate student, with educational benefits that had not been foreseen in the original proposal.

Casertano, Stefano↗
NASA NTRS1990

Moist wind relationships

The equations describing the temporal and spatial behavior of the kinematic moisture and heat flux are described. In these nonlinear equations, the contribution by diabatic processes to the large-scale flux is composed of two parts. One part is associated with a Rayleigh damping term while the other arises from temporal and spatial changes in the pressure gradient term. It was found that the influence of diabatic processes on large-scale moisture fluxes depends greatly on the degree of balance between forcing and damping terms in the governing kinematic flux equations. The existence of a near balance requires a reduction in the large-scale horizontal geostrophic wind speed. Based on an examination of the moisture flux equations, it is argued that reductions in the large-scale horizontal wind speed observed within major cumulus cloud systems help conserve large-scale moisture fluxes. The deviation of the wind from geostrophic conditions is easily estimated for a near balanced state. This wind modification induces secondary vertical circulations that contribute to convergence, creating or supporting long-lived mesoscale flows. We believe this process to be a major supporter of the mesoscale circulations observed in severe storms and squall lines. In the tropics the wind modification has an antitriptic relationship. These diagnostic findings suggest possible modifications to the wind field in the application of a cumulus parameterization, and may be important in diabatic initialization of numerical weather prediction models.

Raymond, William H.↗
NASA NTRS1993

Inertial-space disturbance rejection for space-based manipulators

The implementation of a disturbance rejection controller for a 6-DOF PUMA manipulator mounted on a 3-DOF platform was described. A control algorithm is designed to track the desired position and attitude of the end-effector in inertial space, subject to unknown disturbances in the platform axes. Experimental results are presented for step, sinusoidal, and random disturbances in the platform rotational axis and in the neighborhood of kinematic singularities. Robotic manipulators were proposed as a means of reducing the amount of extra vehicular activity time required for space station assembly and maintenance. The proposed scenario involves a robotic manipulator attached to some mobile platform, such as a spacecraft, satellite, or the space station itself. Disturbances in the platform position and attitude may prevent the manipulator from successfully completing the task. The possibility of using the manipulator to compensate for platform disturbances was explored. The problem of controlling a robotic manipulator on a mobile platform has received considerable attention in the past few years. Joshi and Desrochers designed a nonlinear feedback control law to carry out tasks (with respect to the robot base frame) in the presence of roll, pitch and yaw disturbances in the platform axes. Dubowsky, Vance, and Torres proposed a time-optimal planning algorithm for a robotic manipulator mounted on a spacecraft, subject to saturation limits in the attitude control reaction jets. Papadopoulos and Dubowsky developed a general framework for analyzing the control of free-floating space manipulator systems. Most recently, Torres and Dubowsky have presented a technique called the enhanced disturbance map to find manipulator trajectories that reduce the effect of disturbances in the spacecraft position and attitude. One common assumption in the literature is that the disturbance signal is exactly known. If this is the case, then the end-effector location can be calculated without relying on direct end-point sensing. However, this assumption is invalid if there is a significant delay in the platform position and attitude measurements, or if the kinematics of the platform are not well known, or if the platform is a non-rigid structure. In the more likely case that only the nominal platform location and upper bound on the disturbance signal are known, direct end-point sensing is needed to measure the end-effector location.

Holt, Kevin↗
NASA NTRS1993

The Galactic bulge and halo

The relationship between the Galactic halo and bulge is discussed, with reference to early results from a survey for K giants in a field 2 kpc from the Galactic center and Zinn's (1992) data on globular-cluster kinematics. The data are currently too meager to decide whether the inner halo shades gradually into the bulge, although there are some interesting kinematical similarities between bulge stars and Zinn's Old Halo clusters in the inner Galaxy. Useful observations that would help decide this matter are also discussed.

Morrison, Heather L.↗
NASA NTRS1995

Methodologies to determine forces on bones and muscles of body segments during exercise, employing compact sensors suitable for use in crowded space vehicles

Work under this grant was carried out by the author and by a graduate research assistant. An instrumented bicycle ergometer was implemented focusing on the stated objective: to estimate the forces exerted by each muscle of the feet, calf, and thigh of an individual while bicycling. The sensors used were light and compact. These were probes to measure muscle EMG activity, miniature accelerometers, miniature load sensors, and small encoders to measure angular positions of the pedal. A methodology was developed and implemented to completely describe the kinematics of the limbs using data from the sensors. This work has been published as a Master's Thesis by the Graduate student supported by the grant. The instrumented ergometer along with the sensors and instrumentation were tested during a KC-135 Zero-Gravity flight in July, 1994. A complete description of the system and the tests performed have been published as a report submitted to NASA Johnson Space Center. The data collected during the KC-135 flight is currently being processed so that a kinematic description of the bicycling experiment will be soon determined. A methodology to estimate the muscle forces has been formulated based on previous work. The methodology involves the use of optimization concepts so that the individual muscle forces that represent variables in dynamic equations of motion may be estimated. Optimization of a criteria (goal) function such as minimization of energy will be used along with constraint equations defined by rigid body equations of motion. Use of optimization principles is necessary, because the equations of motion alone constitute an indeterminate system of equations with respect to the large amount of muscle forces which constitute the variables in these equations. The number of variables is reduced somewhat by using forces measured by the load cells installed on the pedal. These load cells measure pressure and shear forces on the foot. The author and his collaborators at NASA and at the University of Alabama, Tuscaloosa, are continuing the work of reducing the experimental data from the KC-135 flight, and the implementation of the optimization methods to estimate muscle forces. As soon as results from these efforts are available, they will be published in reputable journals. Results of this work will impact studies addressing bone density loss and development of countermeasures to minimize bone loss in zero gravity conditions. By analyzing muscle forces on Earth and in Space during exercise, scientists could eventually formulate new exercises and machines to help maintain bone density. On Earth, this work will impact studies concerning arthritis, and will provide the means to study possible exercise countermeasures to minimize arthritis problems.

Figueroa, Fernando↗
NASA NTRS1993

Development and evaluation of a musculoskeletal model of the elbow joint complex

This paper describes the development and evaluation of a musculoskeletal model that represents human elbow flexion-extension and forearm pronation-supination. The length, velocity, and moment arm for each of the eight musculotendon actuators were based on skeletal anatomy and position. Musculotendon parameters were determined for each actuator and verified by comparing analytical torque-angle curves with experimental joint torque data. The parameters and skeletal geometry were also utilized in the musculoskeletal model for the analysis of ballistic elbow joint complex movements. The key objective was to develop a computational model, guided by parameterized optimal control, to investigate the relationship among patterns of muscle excitation, individual muscle forces, and movement kinematics. The model was verified using experimental kinematic, torque, and electromyographic data from volunteer subjects performing ballistic elbow joint complex movements.

Gonzalez, Roger V.↗
NASA NTRS1994

On the dynamics of small-scale vorticity in isotropic turbulence

It was previously shown that the strong vorticity in isotropic turbulence is organized into tubular vortices ('worms') whose properties were characterized through the use of full numerical simulations at several Reynolds numbers. At the time most of the observations were kinematic, and several scaling laws were discovered for which there was no theoretical explanation. In the meantime, further analysis of the same fields yielded new information on the generation of the vortices, and it was realized that even if they had to be formed by stretching, they were at any given moment actually compressed at many points of their axes. This apparent contradiction was partially explained by postulating axial inertial waves induced by the nonuniformity of the vortex cores, which helped to 'spread' the axial strain and allowed the vortices to remain compact even if not uniformly stretched. The existence of such solutions was recently proved numerically. The present report discusses a set of new numerical simulations of isotropic turbulence, and a reanalysis of the old ones, in an effort to prove or disprove the presence of these waves in actual turbulent flows and to understand the dynamics, as opposed to the kinematics, of the vortices.

Jimenez, Javier↗