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NASA NTRS1992

Study of explosive and nonexplosive cyclogenesis during FGGE

Explosive cyclogenesis during the winter of the First Global GARP Experiment (January-February 1979) is analyzed using the revised European Centre for Medium Range Weather Forecasts (ECMWF) analyses. Explosive cyclogenesis is defined as a decrease in the sea level pressure at the rate of 1 mb/h for at least 12 h. Diagnostics for 23 explosively developing cases and 16 nonexplosive cases are evaluated. Parameters compared include the dry static stability, low-level relative vorticity, vorticity advection, upper-level divergence, and kinematic vertical velocities. These parameters are compared statistically at the initial, 12-, and 24-h time periods. Parameters for which the explosive and nonexplosive cyclone ensembles were statistically separable are the kinematic vertical velocity and the upper-level divergence and vorticity advection. The strong upper-level processes for the explosive cases at the initial time indicate the importance of upper-tropospheric features in producing the stronger vertical motions and more rapid cyclogenesis.

Wash, Carlyle H.↗

NASA NTRS1991

On the nature of control algorithms for free-floating space manipulators

It is suggested that nearly any control algorithm that can be used for fixed-based manipulators also can be employed in the control of free-floating space manipulator systems, with the additional conditions of estimating or measuring a spacecraft's orientation and of avoiding dynamic singularities. This result is based on the structural similarities between the kinematic and dynamic equations for the same manipulator but with a fixed base. Barycenters are used to formulate the kinematic and dynamic equations of free-floating space manipulators. A control algorithm for a space manipulator system is designed to demonstrate the value of the analysis.

Papadopoulos, Evangelos↗

NASA NTRS1992

Spectroscopy of emission-line nebulae in powerful radio galaxies - Interpretation

Long-slit optical spectra of the emission-line nebulae associated with 21 low-redshift (less than 0.2) radio galaxies are analyzed. Nebulae are classified kinematically into three types: rotators, calm nonrotators, and violent nonrotators; these types are characterized. It is proposed that the rotators have dynamically young disks of gas recently acquired by the radio galaxy in an interaction or merger with a gas-rich galaxy. This is consistent with the data on the morphologies, colors, and stellar dynamics of radio galaxies with strong emission lines. It is inferred from the association of the large-scale gas kinematics with the radio and optical properties of an active galaxy that the angular momentum of the gas which fuels the AGN may be an important parameter in the determinant of how activity is manifest in an AGN.

Baum, S. A.↗

NASA NTRS1992

Neural joint control for Space Shuttle Remote Manipulator System

Neural networks are being used to control a robot arm in a telerobotic operation. The concept uses neural networks for both joint and inverse kinematics in a robotic control application. An upper level neural network is trained to learn inverse kinematic mappings. The output, a trajectory, is then fed to the Decentralized Adaptive Joint Controllers. This neural network implementation has shown that the controlled arm recovers from unexpected payload changes while following the reference trajectory. The neural network-based decentralized joint controller is faster, more robust and efficient than conventional approaches. Implementations of this architecture are discussed that would relax assumptions about dynamics, obstacles, and heavy loads. This system is being developed to use with the Space Shuttle Remote Manipulator System.

Atkins, Mark A.↗

NASA NTRS1992

Stability and 3-D spatial dynamics analysis of a three cable crane

A 3-cable crane mechanism has been designed for incorporation into a highly loaded Lunar crane for planetary construction. This 3-cable crane must maintain a positive stability margin in all phases of the loading/unloading, assembly, or installation operations. A 2D kinematic curvature theory is applied to: (1) derive a general stability criterion to prevent the 3-cable crane from instability; and (2) determine a simple equation of natural frequency for two planar models of 3-cable crane. Investigation of the 2D vibrational characteristics of the planar models provides valuable insight toward understanding of 3D dynamic behavior of the 3-cable crane. Also, precision in natural frequency from this simple kinematic equation due to the exclusion of the radius-of-gyration of a suspended article is discussed. Multibody dynamics of the 3D 3-cable crane is presented and simulated to study the resulting vibrational characteristics under external disturbances and to verify the feasibility of the stability criterion for the 3-cable crane.

Yang, Li-Farn↗

NASA NTRS1992

Parallel computation of geometry control in adaptive truss structures

The fast computation of geometry control in adaptive truss structures involves two distinct parts: the efficient integration of the inverse kinematic differential equations that govern the geometry control and the fast computation of the Jacobian, which appears on the right-hand-side of the inverse kinematic equations. This paper present an efficient parallel implementation of the Jacobian computation on an MIMD machine. Large speedup from the parallel implementation is obtained, which reduces the Jacobian computation to an O(M-squared/n) procedure on an n-processor machine, where M is the number of members in the adaptive truss. The parallel algorithm given here is a good candidate for on-line geometry control of adaptive structures using attached processors.

Ramesh, A. V.↗

NASA NTRS1992

Fuzzy logic control of telerobot manipulators

Telerobot systems for advanced applications will require manipulators with redundant 'degrees of freedom' (DOF) that are capable of adapting manipulator configurations to avoid obstacles while achieving the user specified goal. Conventional methods for control of manipulators (based on solution of the inverse kinematics) cannot be easily extended to these situations. Fuzzy logic control offers a possible solution to these needs. A current research program at SRI developed a fuzzy logic controller for a redundant, 4 DOF, planar manipulator. The manipulator end point trajectory can be specified by either a computer program (robot mode) or by manual input (teleoperator). The approach used expresses end-point error and the location of manipulator joints as fuzzy variables. Joint motions are determined by a fuzzy rule set without requiring solution of the inverse kinematics. Additional rules for sensor data, obstacle avoidance and preferred manipulator configuration, e.g., 'righty' or 'lefty', are easily accommodated. The procedure used to generate the fuzzy rules can be extended to higher DOF systems.

Franke, Ernest A.↗

NASA NTRS1991

Spaceborne centrifugal relays for spacecraft propulsion

Acceleration using centrifugal relays is a recently discovered method for the acceleration of spaceborne payloads to high velocity at high thrust. Centrifugal relays are moving rotors which progressively accelerate reaction mass to higher velocities. One important engineering problem consists of accurately tracking the position of the projectiles and rotors and guiding each projectile exactly onto the appropriate guide tracks on each rotor. The topics of this research are the system kinematics and dynamics and the computerized guidance system which will allow the projectile to approach each rotor with exact timing with respect to the rotor rotation period and with very small errors in lateral positions. Kinematics studies include analysis of rotor and projectile positions versus time and projectile/rotor interactions. Guidance studies include a detailed description of the tracking mechanism (interrupt of optical beams) and the aiming mechanism (electromagnetic focusing) including the design of electromagnetic deflection coils and the switching circuitry.

Ouzidane, Malika↗

NASA NTRS1993

A new observational and numerical study of tidal interactions in M81-M82-NGC3077 system

A nearby system of interacting galaxies M81-M82-NGC3077 triplet (D = 3.3 Mpc; Freeman & Madore 1988) has been studied using multi-wavelength observations and numerical simulations to obtain a comprehensive understanding on the dynamics and the consequences of tidal interactions in a group environment. The VLA 12-field Mosaic H I observations of 2 x 1.5 deg. region have revealed a vast array of H I filaments which suggests that the severity and extent of tidal disruptions far exceed the previous estimates. A tidal remnant of the former H I disk of M82 extending up to 30 kpc (in projection) is identified for the first time, and the pervasive effects of the tidal disruption are traced into the inner disk by optical and CO observations, including a kinematic trace of a large scale bar potential (Yun, Ho, & Lo 1992). The H I disk of M81 is traced out to 40 kpc in radius, and a large scale (l approx. 20 kpc) velocity anomaly ('High Velocity Trough'), which may be a remnant of a gaseous collision, is found within the disk of M81. The large H I bridge between M81 and NGC 3077 (van der Hulst 1979) is also found to extend approx. greater than 50 kpc further, bending around NGC 3077, toward M82. The total H I detected in this experiment, 5.6 x 10(exp 9) solar mass, represents the majority of the single-dish flux (Appleton, Davies, & Stephenson 1981) and suggests that the bulk of H I found in the region belongs to the three galaxies and the tidal filaments. The impact and details of the tidal interactions have been further examined through the use of numerical techniques. The 'restricted 3-body' approach was used to simulate the observed distribution of tidal H I streamers connecting the three galaxies, and the success of the simulation is further strengthened by the accurate predictions on the gas kinematics.

Yun, M. S.↗

NASA NTRS1993

The effects of flaring in H1 on the observed velocity field of spirals

This work is part of a larger project in which we want to determine the shapes of dark halos around spiral galaxies. Rotation curves 'probe' the halos in the radial direction. The derived halo mass distributions are badly constrained. The local halo densities fully determine the width of the gas distribution once the gaseous velocity dispersion is known. There where the dark halo dominates, the Full Width at Half Maximum (FWHM) of the gas layer is proportional to (rho(sub halo))(exp -0.5). Therefore, measuring the width of the gas layer probes the halo density directly. In a dark halo dominated potential, the FWHM of the gas layer increases linearly with radius. This increase of the thickness of the gas layer is known as 'flaring'. Flaring has been found inside the stellar disk. Beyond the edge of the stellar disk, the analysis is hampered by the onset of the warp. Since the galaxy we are studying, NGC 4244, has no significant warp we hope to extend Rupen's analysis into the halo dominated regime. The usual method to derive a rotation curve from an observed 2-dimensional velocity field is to assume that the hydrogen is distributed in infinitely thin rings. For a flaring disk, any line of sight samples many different parts of the galaxy, all having different densities and projected velocities. In order to fully exploit the information contained in the gas distribution, we have to understand the effects of flaring on the observables (the spectrum for each point of the galaxy). We have investigated the effects of a flaring disk on the observed velocity field. It is obvious that the largest (kinematical) effects are to be expected for low density dark halos at large inclinations. For low mass galaxies we expect that the flaring of the H1 layer will have a major effect on the observed kinematics. For galaxy with intermediate V(sub max,halo) seen at intermediate inclinations, one overestimates Vsin(i) typically by a few percent. For more massive galaxies, any effects arising from the flaring H1 layer are minuscule unless the inclination is not too far from 90 deg.

Olling, Rob↗

NASA NTRS1992

Radio continuum and radio recombination line observations of Sagittarius B1 and G0.6-0.0

Continuum emission and H110-alpha recombination line emission from Sgr B1 and G0.6-0.0 have been observed using the VLA. It is shown that Sgr B1 is a region of great complexity, both spatially and kinematically. The continuum observations show that this region is dominated by many extended features rather than compact sources. On the other hand, Sgr B2 is dominated by several ultracompact H II regions. The two regions may be in different stages of evolution, with Sgr B1 being older, perhaps by as much as 0 exp 6 yrs. The recombination line study shows that Sgr B1 is composed of two distinct kinematic regions, a simple western one and a more complex eastern one. G0.6-0.0 is a region composed of at least four ultracompact H II regions that is situated between Sgr B1 and Sgr B2. There is an arc of ionized gas that lies to the east and to the south of these compact regions. The velocity of G0.6-0.0 is intermediate between those of Sgr B1 and Sgr B2. These facts strengthen the argument that these regions are physically associated.

Mehringer, David M.↗

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↗