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At least 1,225 records · Page 68

The galactic corona

The IUE observations and theories involving the gaseous galactic corona of the Milky Way are reviewed. Observational topics emphasized include results relevant to the z distribution, kinematics, and ionic and elemental abundances of the gas. The theories for the support, ionization, and kinematics of the galactic halo appear to require a merging of the ideas associated with the galactic fountain models and the photoionized halo models. The Si IV found in the galactic halo is likely mostly produced by photoionization while the N V is probably mostly produced by collisional ionization in cooling fountain gas; C IV may represent an intermediate case with important contributions from photoionization and from collisional ionization.

Savage, Blair D.↗

Notes on implementation of Coulomb friction in coupled dynamical simulations

A coupled dynamical system is defined as an assembly of rigid/flexible bodies that may be coupled by kinematic connections. The interfaces between bodies are modeled using hinges having 0 to 6 degrees of freedom. The equations of motion are presented for a mechanical system of n flexible bodies in a topological tree configuration. The Lagrange form of the D'Alembert principle was employed to derive the equations. The equations of motion are augmented by the kinematic constraint equations. This augmentation is accomplished via the method of singular value decomposition.

Vandervoort, R. J.↗

The age and source of ocean swell observed in Hurricane Josephine

A simple kinematic model is applied to SIR-B observations in the far field of Hurricane Josephine in order to estimate the swell origin in space and time. The SIR data was obtained on October 12, 1984, and the geometry of the hurricane swell kinematic model is described. Estimates of the wavenumber and wave age and generation regions of the system are graphically presented and examined. The data reveal that the waves of Hurricane Josephine were generated 0-9 hours before the SIR-B overpass.

Gonzalez, Frank I.↗

A study of frontal dynamics with application to the Australian summertime 'cool change'

The dynamics of frontal evolution is examined in terms of the Australian summertime cool change using a two-dimensional numerical model. The model is synthesized from observational data on surface cold fronts obtained during the Australian Cold Fronts Research Program, and the model develops a quasi-steady surface cold front during the 24 hours of integration. The characteristics of this model are compared with those of a kinematic model; it is observed that the features of the two models correspond. The two-dimensional and kinematic models are also compared with a 24-hour prediction of the cold front of February 1983 using the three-dimensional nested-grid model of the Australian Numerical Meteorology Research Center, developed by Gauntlett et al. (1984). Good correlation between these models is detected.

Reeder, Michael J.↗

Contemporary plate motions from Lageos - A decade later

Progress made due to Lageos tracking and the participation of over 20 countries in the acquisition and analysis of precise range measurements is reviewed. Results of both the observed global and regional plate kinematics are presented. Mission accomplishments include the following: (1) laser technology advancements of more than an order of magnitude in single point range precision over the last ten years, (2) station positioning at the few centimeter accuracy level for annual solutions, and (3) the emergence of a global picture of plate kinematics.

Christodoulidis, D. C.↗

Synthesis of finite displacements and displacements in continental margins

The scope of the project is the analysis of displacement-rate fields in the transitional regions between cratonal and oceanic lithospheres over Phanerozoic time (last 700 ma). Associated goals are an improved understanding of range of widths of major displacement zones; the partition of displacement gradients and rotations with position and depth in such zones; the temporal characteristics of such zones-the steadiness, episodicity, and duration of uniform versus nonunifrom fields; and the mechanisms and controls of the establishment and kinematics of displacement zones. The objective is to provide a context of time-averaged kinematics of displacement zones. The initial phase is divided topically among the methodology of measurement and reduction of displacements in the lithosphere and the preliminary analysis from geologic and other data of actual displacement histories from the Cordillera, Appalachians, and southern North America.

Speed, R. C.↗

Determination of settings of a tilted head-cutter for generation of hypoid and spiral bevel gears

Kinematics of Gleason mechanisms of hypoid and spiral bevel cutting machines are considered. These mechanisms are designated to install the position and tilt of the head cutter. The tilt of the head cutter with standard blades provides the required pressure angle. The authors have developed the matrix presentation of kinematics of these meachanisms and basic equations for the required settings. An example is presented based on the developed computation procedure.

Litvin, F. L.↗

A general-purpose approach to computer-aided dynamic analysis of a flexible helicopter

A general purpose mathematical formulation is described for dynamic analysis of a helicopter consisting of flexible and/or rigid bodies that undergo large translations and rotations. Rigid body and elastic sets of generalized coordinates are used. The rigid body coordinates define the location and the orientation of a body coordinate frame (global frame) with respect to an inertial frame. The elastic coordinates are introduced using a finite element approach in order to model flexible components. The compatibility conditions between two adjacent elements in a flexible body are imposed using a Boolean matrix, whereas the compatibility conditions between two adjacent bodies are imposed using the Lagrange multiplier approach. Since the form of the constraint equations depends upon the type of kinematic joint and involves only the generalized coordinates of the two participating elements, then a library of constraint elements can be developed to impose the kinematic constraint in an automated fashion. For the body constraints, the Lagrange multipliers yield the reaction forces and torques of the bodies at the joints. The virtual work approach is used to derive the equations of motion, which are a system of differential and algebraic equations that are highly nonlinear. The formulation presented is general and is compared with hard-wired formulations commonly used in helicopter analysis.

Agrawal, Om P.↗

Aeroelastic modeling of rotor blades with spanwise variable elastic axis offset: Classic issues revisited and new formulations

In response to a systematic methodology assessment program directed to the aeroelastic stability of hingeless helicopter rotor blades, improved basic aeroelastic reformulations and new formulations relating to structural sweep were achieved. Correlational results are presented showing the substantially improved performance of the G400 aeroelastic analysis incorporating these new formulations. The formulations pertain partly to sundry solutions to classic problem areas, relating to dynamic inflow with vortex-ring state operation and basic blade kinematics, but mostly to improved physical modeling of elastic axis offset (structural sweep) in the presence of nonlinear structural twist. Specific issues addressed are an alternate modeling of the delta EI torsional excitation due to compound bending using a force integration approach, and the detailed kinematic representation of an elastically deflected point mass of a beam with both structural sweep and nonlinear twist.

Bielawa, Richard L.↗

Stellar populations; Proceedings of the Meeting, Baltimore, MD, May 20-22, 1986

Various papers covering recent findings on stellar populations are presented. The topics addressed include: the bulges of the Galaxy and M31, kinematics of the local subdwarfs and the collapse of the Galaxy, the red stellar population of the local group dwarf galaxies, globular clusters in the local group galaxies, the initial mass function, and star formation histories of galactic disks. Also discussed are: yield and abundance constraints on galactic chemical evolution, population synthesis in early type galaxies, the evolution of stellar populations in galaxies, a theoretical perspective on spectral evolution of galaxies, and the structure and kinematics of galaxy populations.

Norman, Colin A.↗

A technique to aid in the design of optimal robots for use in space applications

A method is presented which gives robot designers a starting point for designing 'optimal' robots for space applications. Test results on a robot kinematically similar to a Puma 560 are summarized, indicating the inadequacies of current kinematic design. The work that still needs to be done to achieve a full, working system is described.

Roston, Gerald↗

Uranian ring orbits from earth-based and Voyager occultation observations

A novel kinematical model of the Uranian rings has been derived from Voyager occultation timings and earth-based observations of the occultations of U23, U25, and U28, to yield an improved orbit solution that is accurate to about 1 km in the ring plane; this allows a critical comparison to be conducted between ring locations and suspected resonances. The gamma ring is noted to have a peculiar orbit that combines a precessing elliptical ring with a radially-oscillating normal mode. The kinematical model confirms the suspected association of resonances between the 1986U7 and 1986U8 satellites with some of the rings.

French, Richard G.↗

Control of a human-powered helicopter in hover

The study of a control system for the Da Vinci 2 human-powered helicopter in hovering flight is documented. This helicopter has two very large, slowly rotating rotor blades and is considered to be unstable in hover. The control system is designed to introduce stability in hover by maintaining level rotors through the use of rotor tip mounted control surfaces. A five degree of freedom kinematic model was developed to study this control system and is documented. Results of this study show that the unaugmented configuration is unstable due to the large Lock Number, and the augmented configuration is stable. The role of NASA in this study included the development and analysis of the kinematic model and control laws. Both analytical and numerical techniques were used.

Totah, Joseph J.↗

Radiative transfer in planetary atmospheres

Rheoretical techniques and observations at millimeter wavelengths are combined to study the atmosphere of planets and comets, planetary and satellite regoliths, and planetary rings. Analysis of the very high quality data on the 18 cm OH line observed in recent comets continued. The high spectral resolution and high signal-to-noise make these lines ideal for study of the kinematics in cometary comae. A model of the collisional quenching of the inversion of the lambda doublet responsible for the OH radio emission has been developed by P. Schloerb. For conditions appropriate to Halley's Comet, collisional quenching should lead radio observers to systematically underestimate the OH parent production rate by a factor of approximately 3 relative to its actual value, which is very consistent with differences observed between radio and ultraviolet-derived production rates. Modeling is likewise continuing for the profiles observed in the lowest rotational transition of HCN in Comet Halley in order to better estimate the excitation and hence the abundance of HCN, as well as the kinematics of parent molecules in the coma. A collaborative program to combine data from the 14 m antenna with interferometric data abtained at the Hat Creek Radio Observatory is allowing aperture synthesis mapping of Venus in the CO J=1-0 line.

Irvine, William M.↗

Dexterity analysis and robot hand design

Understanding about a dexterous robot hand's motion ranges is important to the precision grasping and precision manipulation. A planar robot hand is studied for object orientation, including ranges of motion, measures with respect to the palm, position reaching of a point in the grasped object, and rotation of the object about the reference point. The rotational dexterity index and dexterity chart are introduced and an analysis procedure is developed for calculating these quantities. A design procedure for determining the hand kinematic parameters based on a desired partial or complete dexterity chart is also developed. These procedures have been tested in detail for a planar robot hand with two 2- or 3-link fingers. The derived results are shown to be useful to performance evaluation, kinematic parameter design, and grasping motion planning for a planar robot hand.

Li, LU↗

Crater size estimates for large-body terrestrial impact

Calculating the effects of impacts leading to global catastrophes requires knowledge of the impact process at very large size scales. This information cannot be obtained directly but must be inferred from subscale physical simulations, numerical simulations, and scaling laws. Schmidt and Holsapple presented scaling laws based upon laboratory-scale impact experiments performed on a centrifuge (Schmidt, 1980 and Schmidt and Holsapple, 1980). These experiments were used to develop scaling laws which were among the first to include gravity dependence associated with increasing event size. At that time using the results of experiments in dry sand and in water to provide bounds on crater size, they recognized that more precise bounds on large-body impact crater formation could be obtained with additional centrifuge experiments conducted in other geological media. In that previous work, simple power-law formulae were developed to relate final crater diameter to impactor size and velocity. In addition, Schmidt (1980) and Holsapple and Schmidt (1982) recognized that the energy scaling exponent is not a universal constant but depends upon the target media. Recently, Holsapple and Schmidt (1987) includes results for non-porous materials and provides a basis for estimating crater formation kinematics and final crater size. A revised set of scaling relationships for all crater parameters of interest are presented. These include results for various target media and include the kinematics of formation. Particular attention is given to possible limits brought about by very large impactors.

Schmidt, Robert M.↗

Modeling and simulation of a Stewart platform type parallel structure robot

The kinematics and dynamics of a Stewart Platform type parallel structure robot (NASA's Dynamic Docking Test System) were modeled using the method of kinematic influence coefficients (KIC) and isomorphic transformations of system dependence from one set of generalized coordinates to another. By specifying the end-effector (platform) time trajectory, the required generalized input forces which would theoretically yield the desired motion were determined. It was found that the relationship between the platform motion and the actuators motion was nonlinear. In addition, the contribution to the total generalized forces, required at the actuators, from the acceleration related terms were found to be more significant than the velocity related terms. Hence, the curve representing the total required actuator force generally resembled the curve for the acceleration related force. Another observation revealed that the acceleration related effective inertia matrix I sub dd had the tendency to decouple, with the elements on the main diagonal of I sub dd being larger than the off-diagonal elements, while the velocity related inertia power array P sub ddd did not show such tendency. This tendency results in the acceleration related force curve of a given actuator resembling the acceleration profile of that particular actuator. Furthermore, it was indicated that the effective inertia matrix for the legs is more decoupled than that for the platform. These observations provide essential information for further research to develop an effective control strategy for real-time control of the Dynamic Docking Test System.

Lim, Gee Kwang↗

Computational structures for robotic computations

The computational problem of inverse kinematics and inverse dynamics of robot manipulators by taking advantage of parallelism and pipelining architectures is discussed. For the computation of inverse kinematic position solution, a maximum pipelined CORDIC architecture has been designed based on a functional decomposition of the closed-form joint equations. For the inverse dynamics computation, an efficient p-fold parallel algorithm to overcome the recurrence problem of the Newton-Euler equations of motion to achieve the time lower bound of O(log sub 2 n) has also been developed.

Lee, C. S. G.↗