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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↗
NASA NTRS1995

Shuttle to space station transfer of the materials exposure facility

The Materials Exposure Facility (MEF) is being proposed by LaRC as the first long-term space materials exposure facility with real-time interaction with materials experiments in actual conditions of orbital space flight. The MEF is proposed as a Space Station external payload dedicated to technology advancement in spacecraft materials and coatings research. This paper will define a set of potential logistics for removing the MEF from the Shuttle cargo bay and the process required for transferring the MEF to a specific external payload site on Space Station Freedom (SSF). The SSF UF-2 configuration is used for this study. The kinematics and ability to successfully perform the appropriate MEF maneuvers required were verified. During completion of this work, the Space Station was redesigned and the International Space Station Alpha (ISSA) configuration evolved. The transfer procedure for SSF was valid for ISSA; however, a verification of kinematics and clearances was essential. Also, SSF and ISSA robotic interfaces with the Orbiter were different.

Shannon, David T., Jr.↗
NASA NTRS1994

A survey of the core-congruential formulation for geometrically nonlinear TL finite elements

This article presents a survey of the core-congruential formulation (CCF) for geometrically nonlinear mechanical finite elements based on the total Lagrangian (TL) kinematic description. Although the key ideas behind the CCF can be traced back to Rajasekaran and Murray in 1973, it has not subsequently received serious attention. The CCF is distinguished by a two-phase development of the finite element stiffness equations. The initial phase developed equations for individual particles. These equations are expressed in terms of displacement gradients as degrees of freedom. The second phase involves congruential-type transformations that eventually binds the element particles of an individual element in terms of its node-displacement degrees of freedom. Two versions of the CCF, labeled direct and generalized, are distinguished. The direct CCF (DCCF) is first described in general form and then applied to the derivation of geometrically nonlinear bar, and plane stress elements using the Green-Lagrange strain measure. The more complex generalized CCF (GCCF) is described and applied to the derivation of 2D and 3D Timoshenko beam elements. Several advantages of the CCF, notably the physically clean separation of material and geometric stiffnesses, and its independence with respect to the ultimate choice of shape functions and element degrees of freedom, are noted. Application examples involving very large motions solved with the 3D beam element display the range of applicability of this formulation, which transcends the kinematic limitations commonly attributed to the TL description.

Felippa, Carlos A.↗
NASA NTRS1995

Bicycle ergometer instrumentation to determine muscle and bone forces during exercise

It is hypothesized that bone loss experienced by astronauts in zero gravity conditions may be curtailed by appropriate exercise. According to Wolf's law, bone regenerates when muscles produce stresses by pulling on the bone during daily activity and/or exercise on Earth. to use this theory to prevent or decrease bone loss, one needs to quantify musculoskeletal loads and relate them to bone density changes. In the context of the space program, it is desirable to determine musculoskeletal loads during exercise (using the bicycle ergometer in this case) so that one may make similar measurements on Earth and in space. In this manner, load measurements on Earth may be used as reference to generate similar loads during exercise in space. The work reported in this document entails a musculoskeletal load measurement system that, when complete, will provide forces at muscle insertion points and other contact points, on bone. This data will be used by Dr. Beth A. Todd, who is also a SSF working with Dr. Shackelford, as input to a finite element model of bone sections to determine stress distributions. A bicycle ergometer has been instrumented to measure parameters needed to determine musculoskeletal forces during exercise. A primary feature of the system is its compactness. It uses small/light sensors without line-of-sight requirements. The system developed includes sensors, signal processing, a data acquisition system, and software to collect the data. The sensors used include optical encoders to measure position and orientation of the pedal (foot), accelerometers to determine kinematic parameters of the shank and thigh, load cells to measure pedal forces on the sagittal plane, and EMG probes to measure muscle activity. The signals are processed using anti-aliasing filters and amplifiers. The sensors' output is digitized using 30 channels of a board mounted inside a 486 class PC. A program sets the data acquisition parameters and collects data during a time period specified by the user. The data is put directly into a file on the hard disk in binary form. The 30 channels are sampled at 200 KHz, and each 30 channel scan is done at a rate of 1000 Hz. The instrumented ergometer has been flown in the KC-135 zero-gravity (zero-g) flight to collect information needed to determine musculoskeletal forces under these conditions. Similar information has been collected in 1-g conditions for comparision with the results from the zero-g case. At this time, the sets of data from both experiments are being processed. An existing methodology will be used to determine the kinematic parameters of the shank and thigh using accelerometer and encoder data. This methodology was developed during the fellow's previous NASA/ASEE fellowship and thanks to a Director's Grant. In the future, a methodology to determine the musculoskeletal forces using Newton's Law of Motion and optimization techniques will be developed to determine forces exerted by particular muscles.

Figueroa, Fernando↗
NASA NTRS1994

Markarian 315: A test case for the active galactic nucleus-merger hypothesis?

Using the Hubble Space Telescope (HST) Wide Field/Planetary Camera, (WF/PC) we have detected a diffuse continuum knot in the inner regions of the Seyfert galaxy Markarian 315. This knot may be a remnant nucleus. It is associated with a complex, ringlike structure in both the continuum and ionized gas emission. We have measured the kinematics of the ionized gas in two position angles and find velocities which are consistent with a nonaxisymmetric gravitational disturbance. The galaxy is associated with an extended ionized filament, or tidal tail, and our measurements show that the ionized gas in this feature is redshifted by up to 500 km/s in the line of sight relative to the Seyfert nucleus. This combination of morphological and kinematic features suggests that Mrk 315 has suffered a disruptive, tidal interaction which has significantly influenced regions within 1 kpc of its nucleus.

Mackenty, John W.↗
NASA NTRS1994

Farby-Perot observations and new models of the HH 47A and HH 47D bow shocks

We present new models for the HH 47A and HH 47D bow shocks based on line flux and velocity maps obtained with an imaging Fabry-Perot spectrometer. We confirm that HH 47A and HH 47D each show a bow shock/Mach disk morphology, and that velocity variability in the outflow can account for the observed structures. While it was suggested a decade ago that the inner working surface HH 47A appears to be traveling into the wake of HH 47D, we find kinematic evidence that the outer bow shock HH 47D is also not the primary ejection event in the outflow but follows in the wake of previously ejected material. By comparing the observed line ratios and line profiles to those predicted by our bow shock models, we find that both bow shocks have substantially lower shock velocities than their space motions would imply, and that the emission from each bow shock is systematically blueshifted from the rest-frame velocity of the ambient emission, indicating a comoving preshock medium. We derive kinematic ages of approximately 1150 yr for HH 47D and approximately 550 yr for HH 47A, which implies that the stellar driving source may undergo repetitive eruptions similar to FU Orionis-type outbursts every several hundred years. This timescale is similar to estimates made by Reipurth and collaborators for the separation between major outbursts in the HH 34 and HH 111 stellar jets.

Morse, Jon A.↗
NASA NTRS1994

Multiple outflows in the bipolar planetary nebula M1-16: A molecular line study

Extensive observations of the molecular gas in the young, compact planetary nebula M1-16 have been made, using the Swedish-ESO-Submillimeter Telescope. A map of the CO J = 2-1 emission shows that the molecular envelope contains both a slow and a fast outflow with expansion velocities of 19 km/s and greater than 34 km/s, respectively. The slow outflow is mildly elliptical, while the fast molecular outflow is bipolar. This fast outflow is roughly aligned with the very fast outflows recently found in the optical, while the long axis of the slow elliptical outflow is roughly orthogonal to the optical outflow axis. The kinematic timescales for the CO fast outflow and the optical very fast outflow agree closely, supporting the view that the former represents material in the slow outflow accelerated by the very fast outflow. The kinematic signature of a disk expanding with about 15.5 km/s can also be seen in the CO J = 2-1 data. The mass-loss rate (a) for the slow outflow is greater than or equal to 2.8 x 10(exp -5) solar mass/yr and possibly as large as 9 x 10(exp -5) solar mass/yr, (b) for the fast outflow is greater than or equal to 5 x 10(exp -6) solar mass/yr, and (c) for the very fast optically visible outflow is approximately equal 5 x 10(exp -7) solar mass/yr. The disk mass is approximately equal 6 x 10(exp -3) solar mass. Grain photoelectric heating results in temperatures of 20-70 K in molecular gas of the slow outflow. The (13)C/(12)C abundance ratio in M1-16 is found to be 0.33, quite possibly the highest found for any evolved object. Upper limits for the (18)O/(16)O and (17)O/(16)O ratios were found to be consistent with the values found in AGB stars. A search for other molecular species in M1-16 resulted in the detection of the high-excitation species HCN, CN, (13)CN, HCO(+), and H(13)CO(+) and possibly N2H(+). Both the HCO(+)/HCN and CN/HCN line-intensity ratios are enhanced, the former by a very large factor, over the values found in the envelopes of AGB stars, probably as a result of enhancement of the CN and HCO(+) abundances due to photochemistry induced by the stellar UV. The CS J = 2-1, SiO J = 2-1 (v = 0), and SiS J = 6-5 lines were not detected to low levels. For the high-excitation molecules, adequate collisional excitation of rotational levels and survival against photodissociation by the UV radiation requires significant clumping of the molecular gas into clumps with H2 densities approximately 10(exp 5)/cu cm. The IRAS fluxes of M1-16, assuming negligible contribution from line emission, imply the presence of about (1.7-0.4) x 10(exp -3) solar mass of cool dust (temperature around 50 K) and a smaller quantity, (2.7-3.1) x 10(exp -6) solar mass, of warmer dust (temperature around 125 K) for a power-law emissivity index p = 1-2. The evolutionary nature of M1-16 cannot be explained by existing single-star models of post-AGB evolution. The very high (13)C/(12)C abundance ratio in M1-16 suggests a possible evolutionary connection between M1-16 and the rare class of J-type silicate-carbon stars which also have high (13)C/(12)C ratios and are thought to be binary systems with accretion disks.

Sahai, Raghvendra↗
NASA NTRS1994

Mg II chromospheric-emission dating of HR 1614 moving-group stars

A 2800 A Mg II line index I(Mg II) that is sensitive to chromospheric activity has been measured from International Ultraviolet Explorer spectra of a sample of eight HR 1614 moving-group dwarfs. All of these dwarfs have values of I(Mg II) indicative of ages greater than or equal to 3 Gyr. The relatively old ages of these dwarfs, together with their similar and peculiar kinematics and high metal abundance, is consistent with, although not conclusive proof of, coeval formation in close physical proximity to each other. The age, chemical abundance, and kinematics of the HR 1614 moving group -- with the notable exception of height above the Galactic plane -- are similar to the properties of the old open cluster NGC 6791.

Hufnagel, Beth↗