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At least 1,063 records · Page 59

A computational procedure for large rotational motions in multibody dynamics

A computational procedure suitable for the solution of equations of motion for multibody systems is presented. The present procedure adopts a differential partitioning of the translational motions and the rotational motions. The translational equations of motion are then treated by either a conventional explicit or implicit direct integration method. A principal feature of this procedure is a nonlinearly implicit algorithm for updating rotations via the Euler four-parameter representation. This procedure is applied to the rolling of a sphere through a specific trajectory, which shows that it yields robust solutions.

Park, K. C.↗

Turbulence alteration due to shock motion

Physical and computational models are provided for three cases of shock motion-turbulence interaction: (1) the production of velocity fluctuations due to shock oscillations; (2) eddy alteration due to transient eddy shocklets; and (3) eddy production due to transient shock-entropy spottiness interactions. Shock motions are shown to be efficient in converting mean flow energy into fluctuation energy, and high-frequency induced shock motions produce intense vorticity fields from the incident mean flow. The effects of transient eddy shocklets created by subsonic eddy motion in a supersonic stream are discussed in detail.

Hussaini, M. Y.↗

Tracking 3-D body motion for docking and robot control

An advanced method of tracking three-dimensional motion of bodies has been developed. This system has the potential to dynamically characterize machine and other structural motion, even in the presence of structural flexibility, thus facilitating closed loop structural motion control. The system's operation is based on the concept that the intersection of three planes defines a point. Three rotating planes of laser light, fixed and moving photovoltaic diode targets, and a pipe-lined architecture of analog and digital electronics are used to locate multiple targets whose number is only limited by available computer memory. Data collection rates are a function of the laser scan rotation speed and are currently selectable up to 480 Hz. The tested performance on a preliminary prototype designed for 0.1 in accuracy (for tracking human motion) at a 480 Hz data rate includes a worst case resolution of 0.8 mm (0.03 inches), a repeatability of plus or minus 0.635 mm (plus or minus 0.025 inches), and an absolute accuracy of plus or minus 2.0 mm (plus or minus 0.08 inches) within an eight cubic meter volume with all results applicable at the 95 percent level of confidence along each coordinate region. The full six degrees of freedom of a body can be computed by attaching three or more target detectors to the body of interest.

Donath, M.↗

Global time optimal motions of robotic manipulators in the presence of obstacles

A practical method to obtain the global time optimal motions of robotic manipulators is presented. This method takes into account the nonlinear manipulator dynamics, actuator constraints, joint limits, and obstacles. Previously developed methods of optimizing manipulator motions along given paths and a local path optimization are utilized. A set of best paths is obtained first in a global search over the manipulator workspace, using graph search and hierarchical pruning techniques. These paths are used as initial conditions for a continuous path optimization to yield the global optimal motion. Examples of optimized motions of a six-degree-of-freedom manipulator, operating in a three-dimensional space with obstacles, are presented.

Shiller, Zvi↗

Vertical motion as inferred by the VAS 6.7 micron water vapor channel

The change of topography of the upper-most water vapor layer is used as a tracer to directly estimate vertical motion in subtropical atmospheres. An equation for vertical motion is derived using the relationship between 6.7-micron brightness temperature and the altitude of the upper layer of water vapor. This equation is used to estimate the vertical motion over the southeastern U.S. for July, 1984. The obtained values are compared to the vertical motion derived kinematically from radiosondes.

Stout, John↗

A method to estimate the motion of unresolved VLBI components in extragalactic radio sources - The case of NRAO 140

A method is proposed for estimating the relative motion of two blended VLBI compact components from measurements of the motion of their brightness centroid. The method requires a priori information about the source components, such as flux densities and separate knowledge of the motion of one of the blended components. Observations of the superluminal quasar NRAO 140 are analyzed to test the technique. Superluminal motion is found for the blended component A2 at 6-cm wavelength with an apparent velocity of about 5c (H0 = 100 km/s/Mpc, q0 = 0.5, z = 1.258).

Charlot, P.↗

Adaptation to vection-induced symptoms of motion sickness

The effects of repeated exposures to a rotating circular vection drum on the symptoms of motion sickness and tachygastria in humans were investigated. Subjects were sitting in a drum and were exposed to 15 min baseline (no rotation), followed by 15 min drum rotation at 60 deg/s, and, then, by 15 min recovery. Gastric myoelectric activity was continuously recorded with the electrogastrogram. Subjects who were exposed to the drum three times with intervals of 4-24 days all showed symptoms of tachygastria and failed to show an amelioration of motion sickness symptoms. On the other hand subjects who had only 48 h between the three sessions of drum exposure, experienced a reduction in motion-sickness symptoms and in tachygastsria upon repeated exposure to the drum, indicating that training effected a symptomatic and physiological adaptation. It is suggested that preflight adaptation to visual-vestibular sensory mismatch may reduce motion sickness in astronauts.

Stern, Robert M.↗

Optimization of motion control laws for tether crawler or elevator systems

Based on the proposal of a motion control law by Lorenzini (1987), a method is developed for optimizing motion control laws for tether crawler or elevator systems in terms of the performance measures of travel time, the smoothness of acceleration and deceleration, and the maximum values of velocity and acceleration. The Lorenzini motion control law, based on powers of the hyperbolic tangent function, is modified by the addition of a constant-velocity section, and this modified function is then optimized by parameter selections to minimize the peak acceleration value for a selected travel time or to minimize travel time for the selected peak values of velocity and acceleration. It is shown that the addition of a constant-velocity segment permits further optimization of the motion control law performance.

Swenson, Frank R.↗

Optimum control forces for multibody systems with intermittent motion

The objective is to address the continuity of motion when a dynamical system is suddenly subjected to constraint conditions. Motion discontinuity due to the initial constraint violation is avoided by prior control forces that adjust the motion and yield velocity and acceleration consistent at the point of application of the constraint. The optimum control forces are determined for a specified control interval. The method proposed provides an optimum adjustment of the system's motion and assures that the stresses developed at the system components are kept within acceptable limits. The procedures developed will be illustrated making use of inequality constraints applied to obstacle avoidance problems in robotics.

Ider, Sitki Kemal↗

1960 Chile - New estimate of polar motion excitation

A recent reanalysis of the International Latitude Serivce (ILS) polar motion data-day has been processed using Kalman filtering techniques to generate the polar motion excitation function over the time-span from 1960 to 1965. The resulting excitation function has been examined for the effects of 1960 Chile in an attempt to determine experimentally how large earthquake affect polar motion. The resulting upper bound of about 75 x 10 to the 22nd N-m for a 10-deg dip (about 36 x 10 to the 22nd N-m for 20-deg dip) is consistent with results obtained from previous seismic studies, including a recent normal mode excitation result. Following future great earthquakes, monitoring of polar motion by space-based techniques such as VLBI should continue at high temporal resolution for several weeks in order to directly measure the rheological parameters of the upper mantle.

Slade, M. A.↗

Identification of motion parameters of a rigid body from its orthogonal and perspective projections

An estimate is made of the motion parameters, namely, linear and angular velocities, of a rigid body rotating and translating in three-space. The authors assume that the velocities are constant and that the motion is not completely observable. They consider two separate cases of partial observations corresponding to the orthogonal and the perspective projections, respectively. If (x, y, z) is the Cartesian coordinate of the three-space, the authors assume in the first case that the projection of the motion on the x-y plane is observed. If (r, theta, phi) is the polar coordinates of the three-space, they assume in the second case that the parameter vector (theta, phi) is observed. The use of both of these cases to estimate the motion parameters is discussed.

Ganguly, S.↗

Self-Motion Manifolds Of Redundant Manipulators

New perspective on redundancy yields alternative control strategies. Self-motion manifolds introduced to characterization of self-motions of robotic manipulator having redundant degrees of freedom. Kinematics of robot reformulated via manifold mapping stressing global, rather than local, kinematic analysis. Approach useful in study of redundant manipulator kinematics. In addition, problem of resolution of redundancy posed equivalently as problem of control of self-motions, and self-motion manifolds useful in investigating, interpreting, and formulating both local and global techniques for resolution of redundancy.

Burdick, Joel W.↗

Conical Euler simulation and active suppression of delta wing rocking motion

A conical Euler code was developed to study unsteady vortex-dominated flows about rolling highly-swept delta wings, undergoing either forced or free-to-roll motions including active roll suppression. The flow solver of the code involves a multistage Runge-Kutta time-stepping scheme which uses a finite volume spatial discretization of the Euler equations on an unstructured grid of triangles. The code allows for the additional analysis of the free-to-roll case, by including the rigid-body equation of motion for its simultaneous time integration with the governing flow equations. Results are presented for a 75 deg swept sharp leading edge delta wing at a freestream Mach number of 1.2 and at alpha equal to 10 and 30 deg angle of attack. A forced harmonic analysis indicates that the rolling moment coefficient provides: (1) a positive damping at the lower angle of attack equal to 10 deg, which is verified in a free-to-roll calculation; (2) a negative damping at the higher angle of attack equal to 30 deg at the small roll amplitudes. A free-to-roll calculation for the latter case produces an initially divergent response, but as the amplitude of motion grows with time, the response transitions to a wing-rock type of limit cycle oscillation. The wing rocking motion may be actively suppressed, however, through the use of a rate-feedback control law and antisymmetrically deflected leading edge flaps. The descriptions of the conical Euler flow solver and the free-to-roll analysis are presented. Results are also presented which give insight into the flow physics associated with unsteady vortical flows about forced and free-to-roll delta wings, including the active roll suppression of this wing-rock phenomenon.

Lee, Elizabeth M.↗

Typical motions in multiple systems

In very old times, people counted - one, two, many. The author wants to show that they were right. Consider the motions of isolated bodies: (1) N = 1 - simple motion; (2) N = 2 - Keplerian orbits; and (3) N = 3 - this is the difficult problem. In general, this problem can be studied only by computer simulations. The author studied this problem over many years (see, e.g., Agekian and Anosova, 1967; Anosova, 1986, 1989 a,b). The principal result is that two basic types of dynamics take place in triple systems. The first special type is the stable hierarchical systems with two almost Keplerian orbits. The second general type is the unstable triple systems with complicated motions of the bodies. By random choice of the initial conditions, by the Monte-Carlo method, the stable systems comprised about approx. 10% of the examined cases; the unstable systems comprised the other approx. 90% of cases under consideration. In N greater than 3, the studies of dynamics of such systems by computer simulations show that we have in general also the motions roughly as at the cases 1 - 3 with the relative negative or positive energies of the bodies. In the author's picture, the typical trajectories of the bodies in unstable triple systems of the general type of dynamics are seen. Such systems are disrupted always after close triple approaches of the bodies. These approaches play a role like the gravitational slingshot. Often, the velocities of escapers are very large. On the other hand, the movie also shows the dynamical processes of a formation, dynamical evolution and disruption of the temporary wide binaries in triples and a formation of final hard massive binaries in the final evolution of triples.

Anosova, Joanna P.↗

Effects of serotonin antagonists on motion sickness and its suppression by 8-OH-DPAT in cats

The antagonist properties of (-)propranolol, (+)propranolol, metergoline and BMY 7378 on the known effect of 8-OH-DPAT (DPAT) to decrease motion sickness in cats has been evaluated. (-)Propranolol produced a greater decrease in the antiemetic effect of DPAT than did (+)propranolol. Although metergoline produced a decrease in the antiemetic effect of DPAT, the decrease could not be clearly attributed to interactions with 5-HT(1A) receptors because metergoline alone slightly enhanced motion sickness. Depletion of 5-HT with PCPA produced a weaker, nonsignificant enhancement of motion sickness, while mesulergine had no effect. As neither nonspecific 5-HT receptor blockade with metergoline nor depletion of 5-HT mimicked the antiemetic effect of DPAT, it was concluded that DPAT acts on postsynaptic 5-HT(1A) receptors to prevent emesis. BMY 7378 alone decreased the incidence of motion sickness. A dose just below this agonist range did not decrease the effects of DPAT.

Lucot, James B.↗

Decreased susceptibility to motion sickness during exposure to visual inversion in microgravity

Head and body movements made in microgravity tend to bring on symptoms of motion sickness. Such head movements, relative to comparable ones made on earth, are accompanied by unusual combinations of semicircular canal and otolith activity owing to the unloading of the otoliths in 0G. Head movements also bring on symptoms of motion sickness during exposure to visual inversion (or reversal) on earth because the vestibulo-ocular reflex is rendered anti-compensatory. Here, evidence is presented that susceptibility to motion sickness during exposure to visual inversion is decreased in a 0G relative to 1G force background. This difference in susceptibility appears related to the alteration in otolith function in 0G. Some implications of this finding for the etiology of space motion sickness are described.

Lackner, James R.↗

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.↗

Motion and force control of multiple robotic manipulators

This paper addresses the motion and force control problem of multiple robot arms manipulating a cooperatively held object. A general control paradigm is introduced which decouples the motion and force control problems. For motion control, different control strategies are constructed based on the variables used as the control input in the controller design. There are three natural choices; acceleration of a generalized coordinate, arm tip force vectors, and the joint torques. The first two choices require full model information but produce simple models for the control design problem. The last choice results in a class of relatively model independent control laws by exploiting the Hamiltonian structure of the open loop system. The motion control only determines the joint torque to within a manifold, due to the multiple-arm kinematic constraint. To resolve the nonuniqueness of the joint torques, two methods are introduced. If the arm and object models are available, an optimization can be performed to best allocate the desired and effector control force to the joint actuators. The other possibility is to control the internal force about some set point. It is shown that effective force regulation can be achieved even if little model information is available.

Wen, John T.↗