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At least 127 records · Page 7
All sourcesNASA NTRSDOE OSTI
NASA NTRS2011

Graph Theory Roots of Spatial Operators for Kinematics and Dynamics

Spatial operators have been used to analyze the dynamics of robotic multibody systems and to develop novel computational dynamics algorithms. Mass matrix factorization, inversion, diagonalization, and linearization are among several new insights obtained using such operators. While initially developed for serial rigid body manipulators, the spatial operators and the related mathematical analysis have been shown to extend very broadly including to tree and closed topology systems, to systems with flexible joints, links, etc. This work uses concepts from graph theory to explore the mathematical foundations of spatial operators. The goal is to study and characterize the properties of the spatial operators at an abstract level so that they can be applied to a broader range of dynamics problems. The rich mathematical properties of the kinematics and dynamics of robotic multibody systems has been an area of strong research interest for several decades. These properties are important to understand the inherent physical behavior of systems, for stability and control analysis, for the development of computational algorithms, and for model development of faithful models. Recurring patterns in spatial operators leads one to ask the more abstract question about the properties and characteristics of spatial operators that make them so broadly applicable. The idea is to step back from the specific application systems, and understand more deeply the generic requirements and properties of spatial operators, so that the insights and techniques are readily available across different kinematics and dynamics problems. In this work, techniques from graph theory were used to explore the abstract basis for the spatial operators. The close relationship between the mathematical properties of adjacency matrices for graphs and those of spatial operators and their kernels were established. The connections hold across very basic requirements on the system topology, the nature of the component bodies, the indexing schemes, etc. The relationship of the underlying structure is intimately connected with efficient, recursive computational algorithms. The results provide the foundational groundwork for a much broader look at the key problems in kinematics and dynamics. The properties of general graphs and trees of nodes and edge were examined, as well as the properties of adjacency matrices that are used to describe graph connectivity. The nilpotency property of such matrices for directed trees was reviewed, and the adjacency matrices were generalized to the notion of block weighted adjacency matrices that support block matrix elements. This leads us to the development of the notion of Spatial Kernel Operator SKO kernels. These kernels provide the basis for the development of SKO resolvent operators.

Jain, Abhinandan↗
NASA NTRS2012

The Kinematic and Microphysical Control of Storm Integrated Lightning Flash Extent

The objective of this preliminary study is to investigate the kinematic and microphysical control of lightning properties, particularly those that may govern the production of nitrogen oxides (NOx) in thunderstorms, such as flash rate, type and extent. The mixed-phase region is where the noninductive charging (NIC) process is thought to generate most storm electrification during rebounding collisions between ice particles in the presence of supercooled water. As a result, prior radar-based studies have demonstrated that lightning flash rate is well correlated to kinematic and microphysical properties in the mixed-phase region of thunderstorms such as updraft volume, graupel mass, or ice mass flux. There is also some evidence that lightning type is associated with the convective state. Intracloud (IC) lightning tends to dominate during the updraft accumulation of precipitation ice mass while cloud-to-ground (CG) lightning is more numerous during the downdraft-driven descent of radar echo associated with graupel and hail. More study is required to generalize these relationships, especially regarding lightning type, in a wide variety of storm modes and meteorological conditions. Less is known about the co-evolving relationship between storm kinematics, microphysics, morphology and three-dimensional flash extent, despite its importance for lightning NOx production. To address this conceptual gap, the NASA MSFC Lightning Nitrogen Oxides Model (LNOM) is applied to North Alabama Lightning Mapping Array (NALMA) and Vaisala National Lightning Detection NetworkTM (NLDN) observations following ordinary convective cells through their lifecycle. LNOM provides estimates of flash type, channel length distributions, lightning segment altitude distributions (SADs) and lightning NOx production profiles. For this study, LNOM is applied in a Lagrangian sense to well isolated convective cells on 3 April 2007 (single cell and multi-cell hailstorm, non-severe multicell) and 6 July 2007 (non-severe multi-cell) over Northern Alabama. The LNOM lightning characteristics are compared to the evolution of updraft and precipitation properties inferred from dual-Doppler and polarimetric radar analyses applied to observations from a nearby Doppler radar network, including the UA Huntsville Advanced Radar for Meteorological and Operational Research (ARMOR, C-band, polarimetric). The LNOM estimated SAD and lightning NOx production profiles are placed in the context of radar derived profiles of vertical motion, precipitation types and amounts. Finally, these analyses are used to determine if storm integrated flash channel extent is as well correlated to volumetric updraft and precipitation ice characteristics in the mixed phase region as flash rate for these individual convective cells.

Carey, Lawrence↗
NASA NTRS2013

A Kinematic Calibration Process for Flight Robotic Arms

The Mars Science Laboratory (MSL) robotic arm is ten times more massive than any Mars robotic arm before it, yet with similar accuracy and repeatability positioning requirements. In order to assess and validate these requirements, a higher-fidelity model and calibration processes were needed. Kinematic calibration of robotic arms is a common and necessary process to ensure good positioning performance. Most methodologies assume a rigid arm, high-accuracy data collection, and some kind of optimization of kinematic parameters. A new detailed kinematic and deflection model of the MSL robotic arm was formulated in the design phase and used to update the initial positioning and orientation accuracy and repeatability requirements. This model included a higher-fidelity link stiffness matrix representation, as well as a link level thermal expansion model. In addition, it included an actuator backlash model. Analytical results highlighted the sensitivity of the arm accuracy to its joint initialization methodology. Because of this, a new technique for initializing the arm joint encoders through hardstop calibration was developed. This involved selecting arm configurations to use in Earth-based hardstop calibration that had corresponding configurations on Mars with the same joint torque to ensure repeatability in the different gravity environment. The process used to collect calibration data for the arm included the use of multiple weight stand-in turrets with enough metrology targets to reconstruct the full six-degree-of-freedom location of the rover and tool frames. The follow-on data processing of the metrology data utilized a standard differential formulation and linear parameter optimization technique.

Collins, Curtis L.↗
NASA NTRS2020

The Warm Gas in the MW: A Kinematical Model

We develop a kinematical model for the Milky Way Si IV-bearing gas to determine its density distribution and kinematics. This model is constrained by a column density line-shape sample extracted from the Hubble Space Telescope/Cosmic Origins Spectrograph archival data, which contains 186 active galactic nucleus sight lines. We find that the Si IV ion density distribution is dominated by an extended disk along the z-direction (above or below the midplane), i.e., n(z) = n0 exp(-(z z/0 ) 0.82 , where z0 is the scale height of - 6.3+1.5 -1.6 kpc (northern hemisphere) and 3.6+0.9 -1.0 kpc (southern hemisphere). The density distribution of the disk in the radial direction shows a sharp edge at 15–20 kpc given by, n(rXY) = n0 exp(-(rXY/r0) 3.36 , where r0≈12.5±0.6 kpc. The difference of density distributions over rXY and z directions indicates that the warm gas traced by Si IV is mainly associated with disk processes (e.g., feedback or cycling gas) rather than accretion. We estimate the mass of the warm gas (within 50 kpc) is log(M(50kpc) M(sun)) ≈ 8.1 (assuming Z≈0.5 Z(sun)), and a 3σ upper limit of log(M(250kpc) M(sun)) ≈ 9.1 (excluding the Magellanic system). Kinematically, the warm gas disk is nearly co-rotating with the stellar disk at vrot = 215 ± 3 km s-1, which lags the midplane rotation by about 8 km s-1 kpc-1 (within 5 kpc). Meanwhile, we note that the warm gas in the northern hemisphere has significant accretion with vacc of 69±7 km s-1 at 10 kpc (an accretion rate of -0.60+0.13- 0.11 M(sun) yr-1), while in the southern hemisphere, there is no measurable accretion, with an upper limit of 0.4M(sun) yr−1.

Zhijie Qu↗
DOE OSTI2023

3. Motion Platforms and Kinematic Arrangements

Within a machine, mechanisms and motion are organized in what is known as a “kinematic arrangement,” which helps classify machines based on how they move. The most common kinematic arrangements for additive manufacturing systems are Cartesian, followed by delta, and then six-degrees-of-freedom robotic arms. However, there are a multitude of less common systems, such as the SCARA, polar robots, cable driven parallel robots, mobile platforms, and multi-agent systems. This chapter surveys these various kinematic arrangements to give a broad understanding of the mechanisms underlying motion within additive manufacturing systems. Understanding these mechanisms and their resulting motion provides a framework for discussing path planning for all scales and families of additive manufacturing.

Wang, Peter↗
DOE OSTI2020

Dynamic domain kinematic modelling for predicting interflow over leaky impeding layers

Traditional Boussinesq or kinematic simulations of interflow (i.e., lateral subsurface flow) assume no leakage through the impeding layer and require a no-flow boundary condition at the ridge top. However, recent analyses of many interflow-producing landscapes indicate that leaky impeding layers are common, that most interflow percolates well before reaching the toe slope, and therefore, the downslope contributing length is shorter than the hillslope length. In watersheds characterised by perched interflow over a low conductivity layer through permeable topsoil, interflow with percolation may be modelled with a kinematic wave model using a mobile upslope boundary condition defining the hillslope portion contributing interflow to valleys. Here, we developed and applied a dynamic interflow model to simulate interflow using a downslope travel distance concept such that only the active contributing length is modelled at any time. The model defines a variable active area based on the depth of the perched layer, the topographic slope and the ratio of the hydraulic conductivity of topsoil to that of the impeding layer. It incorporates a two-layer soil moisture accounting water balance analysis, a pedo-transfer function, and percolation and evaporation routines to predict interflow rates in continuous and event-based scenarios. We tested the modelling concept on two sets of data (2-year dataset of rainfall observations for the continuous simulation and a multi-day irrigation experiment for the event simulation) from a 121-m-long open interflow collection trench on an experimental hillslope at the Savannah River Site, South Carolina. The continuous model simulation partially represented the observed interflow hydrograph and perched water depth in the experimental hillslope with correlation coefficients of 0.85 and 0.35, respectively. Model performance improved significantly at event-scale analysis. The modelling approach realistically represents interflow dynamics in hillslopes with leaky impeding layers and can be integrated into catchment-scale hydrology models for more detailed hillslope process modelling.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2023

BlueSTEAl: A pair of silicon arrays and a zero-degree phoswich detector for studies of scattering and reactions in inverse kinematics

BlueSTEAl, the Blue (aluminum chamber of) Silicon TElescope Arrays for light nuclei, has been developed to study direct reactions in inverse kinematics, as well as scattering and breakup reactions using radioactive ion beams. It is a detector system consisting of a pair of annular silicon detector arrays and a zero-degree phoswich plastic scintillator. For typical binary reaction studies in inverse kinematics, light ions are detected by the Si array in coincidence with heavy recoils detected by the phoswich placed at the focal-plane of a zero-degree magnetic spectrometer. The Si array can also be used to detect light nuclei such as beryllium and carbon with clear isotope separation, while the phoswich can also be placed at zero degrees without a spectrometer and used as a high-efficiency beam counting monitor with particle identification capability at the rate of up to ~5 × 10 4 particles per second. This paper reports on the capabilities of BlueSTEAl as determined by recent experiments performed at the Texas A&M Cyclotron Institute. Furthermore, the device is also anticipated to be used in future experiments at other radioactive ion beam facilities.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗
DOE OSTI2025

Prediction of neutron production and energy spectrum by the inverse kinematic reaction between an incident 7 Li 3+ beam and a proton target in PHITS

A neutron source using the inverse kinematic reaction between lithium and proton, p( 7 Li, n) 7 Be, achieves forward-directed neutrons, potentially enhancing neutron yield in the forward direction. Despite the advantage, no evaluated-cross-section data for this reaction can be used in Monte Carlo simulation codes, such as PHITS. To solve this problem, this study aims to evaluate the applicability of the user-defined cross-section data, Frag data, for p ( 7 Li, n) 7 Be in PHITS. The simulations reproduced collisions between 7 Li 3+ ions and polypropylene targets. The Frag data was edited based on the JENDL-5 by utilizing the two-body collision kinematics. The neutron yield and angular distribution were investigated in the simulation. As a result, the forward neutron convergence with a reasonable neutron yield and energy spectrum was observed. The expected neutron yield in the forward 1-steradian area is 2.46 × 10 10 n/s when lithium-ion energy and current are 16.45 MeV and 0.1 mA.

43 PARTICLE ACCELERATORS↗
DOE OSTI2023

TDCOSMO. XII. Improved Hubble constant measurement from lensing time delays using spatially resolved stellar kinematics of the lens galaxy

Strong-lensing time delays enable measurement of the Hubble constant ($H_{0}$) independently of other traditional methods. The main limitation to the precision of time-delay cosmography is mass-sheet degeneracy (MSD). Some of the previous TDCOSMO analyses broke the MSD by making standard assumptions about the mass density profile of the lens galaxy, reaching 2% precision from seven lenses. However, this approach could potentially bias the $H_0$ measurement or underestimate the errors. For this work, we broke the MSD for the first time using spatially resolved kinematics of the lens galaxy in RXJ1131$-$1231 obtained from the Keck Cosmic Web Imager spectroscopy, in combination with previously published time delay and lens models derived from Hubble Space Telescope imaging. This approach allowed us to robustly estimate $H_0$, effectively implementing a maximally flexible mass model. Following a blind analysis, we estimated the angular diameter distance to the lens galaxy $D_{\rm d} = 865_{-81}^{+85}$ Mpc and the time-delay distance $D_{\Delta t} = 2180_{-271}^{+472}$ Mpc, giving $H_0 = 77.1_{-7.1}^{+7.3}$ km s$^{-1}$ Mpc$^{-1}$ - for a flat $\Lambda$ cold dark matter cosmology. The error budget accounts for all uncertainties, including the MSD inherent to the lens mass profile and the line-of-sight effects, and those related to the mass-anisotropy degeneracy and projection effects. Our new measurement is in excellent agreement with those obtained in the past using standard simply parametrized mass profiles for this single system ($H_0 = 78.3^{+3.4}_{-3.3}$ km s$^{-1}$ Mpc$^{-1}$) and for seven lenses ($H_0 = 74.2_{-1.6}^{+1.6}$ km s$^{-1}$ Mpc$^{-1}$), or for seven lenses using single-aperture kinematics and the same maximally flexible models used by us ($H_0 = 73.3^{+5.8}_{-5.8}$ km s$^{-1}$ Mpc$^{-1}$). This agreement corroborates the methodology of time-delay cosmography.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2022

SDSS-IV MaNGA: global properties of kinematically misaligned galaxies

ABSTRACT We select 456 gas–star kinematically misaligned galaxies from the internal Product Launch-10 of MaNGA survey, including 74 star-forming (SF), 136 green-valley (GV), and 206 quiescent (QS) galaxies. We find that the distributions of difference between gas and star position angles for galaxies have three local peaks at ∼0°, 90°, and 180°. The fraction of misaligned galaxies peaks at log (M*/M⊙) ∼ 10.5 and declines to both low- and high-mass end. This fraction decreases monotonically with increasing star formation rate and specific star formation rate. We compare the global parameters including gas kinematic asymmetry Vasym, H i detection rate and mass fraction of molecular gas, effective radius Re, Sérsic index n as well as spin parameter $\lambda _{R_e}$ between misaligned galaxies and their control samples. We find that the misaligned galaxies have lower H i detection rate and molecular gas mass fraction, smaller size, higher Sérsic index, and lower spin parameters than their control samples. The SF and GV misaligned galaxies are more asymmetric in gas velocity fields than their controls. These pieces of observational evidence point to the gas accretion scenario followed by angular momentum redistribution from gas–gas collision, leading to gas inflow and central star formation for the SF and GV misaligned galaxies. We propose three possible origins of the misaligned QS galaxies: (1) external gas accretion, (2) merger, and (3) GV misaligned galaxies evolve into QS galaxies.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2022

Theoretical Approach for the Fast Estimation of the Turbulent Kinematic Viscosity for Internal Flows

An analytical expression for turbulent kinematic viscosity (νt), based solely on the hydraulic Reynolds number (Re), was derived and evaluated. The analytical expression is valid for the fast estimation of νt for internal, isotropic, fully developed flows. The expression was compared with experimental and simulation data for air, water, and liquid sodium, and was shown to provide reasonable values for 2100 ≤ Re ≤ 3.6 × 106 and Prandtl number (Pr) range of 0.0107 ≤ Pr ≤ 5.65. In addition, new expressions suitable for the central portion of internal flows, away from the wall, were derived for the turbulent Reynolds number (ReT), showing its relationship to Re, as well as to the ratio of νt and the molecular kinematic viscosity (ν).

42 ENGINEERING↗
DOE OSTI2022

The 3D Kinematics of the Orion Nebula Cluster: NIRSPEC-AO Radial Velocities of the Core Population

The kinematics and dynamics of stellar and substellar populations within young, still-forming clusters provide valuable information for constraining theories of formation mechanisms. Using Keck II NIRSPEC+AO data, we have measured radial velocities for 56 low-mass sources within 4' of the core of the Orion Nebula Cluster (ONC). We also remeasure radial velocities for 172 sources observed with SDSS/APOGEE. These data are combined with proper motions measured using HST ACS/WFPC2/WFC3IR and Keck II NIRC2, creating a sample of 135 sources with all three velocity components. The velocities measured are consistent with a normal distribution in all three components. We measure intrinsic velocity dispersions of (${\sigma }_{{v}_{\alpha }}$, ${\sigma }_{{v}_{\delta }}$, ${\sigma }_{{v}_{r}}$) = (1.64 ± 0.12, 2.03 ± 0.13, ${2.56}_{-0.17}^{+0.16}$) km s –1 . Our computed intrinsic velocity dispersion profiles are consistent with the dynamical equilibrium models from Da Rio et al. (2014) in the tangential direction but not in the line-of-sight direction, possibly indicating that the core of the ONC is not yet virialized, and may require a nonspherical potential to explain the observed velocity dispersion profiles. We also observe a slight elongation along the north–south direction following the filament, which has been well studied in previous literature, and an elongation in the line-of-sight to tangential velocity direction. These 3D kinematics will help in the development of realistic models of the formation and early evolution of massive clusters.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2022

Quantifying Chemical and Kinematical Properties of Galactic Disks

We aim to quantify the chemical and kinematical properties of Galactic disks with a sample of 119,558 giant stars having abundances and 3D velocities taken or derived from the APOGEE DR17 and Gaia EDR3 catalogs. A Gaussian mixture model is employed to distinguish the high-α and low-α sequences along the metallicity by simultaneously using chemical and kinematical data. Four disk components are identified and quantified; they are named the hαmp, hαmr, lαmp, and lαmr disks and correspond to the high-α or low-α, and metal-poor or metal-rich properties. Combined with the spatial and stellar-age information, we confirm that they are well interpreted by the two-infall formation model. The first infall of turbulent gas quickly forms the hot and thick hαmp disk with consequent thinner hαmr and lαmr disks. Then the second gas accretion forms a thinner and outermost lαmp disk. We find that the inside-out and upside-down scenario does not only satisfy the overall Galactic disk formation of these two major episodes but is also presented in the formation sequence of the three inner disks. Importantly, we reveal the inverse age–[M/H] trend of the lαmr disk, which means its younger stars are more metal-poor, indicating that the rejuvenated gas from the second accretion gradually dominates later star formation. Meanwhile, the recently formed stars converge to [M/H] ~ –0.1 dex, demonstrating a sufficient mixture of gas from two infalls.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2021

Point-spread Function Deconvolution of the IFU Data and Restoration of Galaxy Stellar Kinematics

We present a performance test of the point-spread function (PSF) deconvolution algorithm applied to astronomical integral field unit (IFU) spectroscopy data for restoration of galaxy kinematics. We deconvolve the IFU data by applying the Lucy–Richardson algorithm to the 2D image slice at each wavelength. We demonstrate that the algorithm can effectively recover the true stellar kinematics of the galaxy, by using mock IFU data with a diverse combination of surface brightness profile, signal-to-noise ratio, line-of-sight geometry, and line-of-sight velocity distribution (LOSVD). In addition, we show that the proxy of the spin parameter ${\lambda }_{{R}_{e}}$ can be accurately measured from the deconvolved IFU data. We apply the deconvolution algorithm to the actual SDSS-IV MaNGA IFU survey data. The 2D LOSVD, geometry, and ${\lambda }_{{R}_{e}}$ measured from the deconvolved MaNGA IFU data exhibit noticeable differences compared to the ones measured from the original IFU data. The method can be applied to any other regular-grid IFU data to extract the PSF-deconvolved spatial information.

79 ASTRONOMY AND ASTROPHYSICS↗
NASA NTRS2014

Ionized Gas Kinematics at High Resolution. IV. Star Formation and a Rotating Core in the Medusa (NGC 4194)

NGC 4194 is a post-merger starburst known as The Medusa for its striking tidal features.We present here a detailed study of the structure and kinematics of ionized gas in the central 0.65 kpc of the Medusa. The data include radio continuum maps with resolution up to 0".18 (35 pc) and a 12.8 micron [Ne II] data cube with spectral resolution approx. 4 km/s: the first high-resolution, extinction-free observations of this remarkable object. The ionized gas has the kinematic signature of a core in solid-body rotation. The starburst has formed a complex of bright compact H II regions, probably excited by deeply embedded super star clusters, but none of these sources is a convincing candidate for a Galactic nucleus. The nuclei of the merger partners that created the Medusa have not yet been identified.

Ionized↗
NASA NTRS1995

Precise Kinematic Positioning with Simultaneous GPS Pseudorange and Carrier Phase Measurements

This paper investigates three precise kinematic positioning techniques with simultaneous GPS pseudorange and carrier phase measurements. These techniques are simple, efficient, and well suited for real-time positioning applications. A simulation/covariance analysis is carried out comparing the relative performance of these techniques. The analysis indicates that GPS carrier phase measurements significantly strengthen kinematic positioning. When wide-area differential GPS for reducing SA clock errors and GPS ephemeris errors is available, a low Earth orbiting satellite can be positioned to 0.5-0.8 m in accuracy (3-D RSS). The accuracy is superior to positioning with pseudorange measurements alone by a factor of 2 to 3. Relative positioning performance and complexity between the three techniques are compared.

['Kinematic↗
DOE OSTI2021

Loop amplitudes monodromy relations and color-kinematics duality

Color-kinematics duality is a remarkable conjectured property of gauge theory which, together with double copy, is at the heart of a wealth of new developments in scattering amplitudes. So far, its validity has been verified in most cases only empirically, with limited ab initio understanding beyond tree-level. In this paper we provide initial steps in a first-principle understanding of color-kinematics duality and double-copy at loop level, through a detailed analysis of the field-theory limit of the monodromy relations of string theory at one loop. In this limit, we dissect the type of Feynman graphs generated and the relations they obey. We find that graphs with contact-terms are unavoidable and are generated in the field theory limit of “bulk” contours which do not have a standard physical interpretation in string perturbation theory. We show how they are related to ambiguities in the definition of the loop momentum and that their role is precisely to cancel those ambiguities.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2025

Kinematic flow for cosmological loop integrands

Recently, an interesting pattern was found in the differential equations satisfied by the Feynman integrals describing tree-level correlators of conformally coupled scalars in a power-law FRW cosmology [1, 2]. It was proven that simple and universal graphical rules predict the equations for arbitrary graphs as a flow in kinematic space. In this note, we show that the same rules — with one small addition — also determine the differential equations for loop integrands. We explain that both the basis of master integrals and the singularities of the differential equations can be represented by tubings of marked graphs. An important novelty in the case of loops is that some basis functions can vanish, and we present a graphical rule to identify these vanishing functions. Taking this into account, we then demonstrate that the kinematic flow correctly predicts the differential equations for all loop integrands.

Cosmological models↗