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At least 1,351 records · Page 75

Global Studies of Molecular Clouds in the Galaxy, The Magellanic Clouds, and M31

Over the course of this grant we used various spacecraft surveys of the Galaxy and M31 in conjunction with our extensive CO spectral line surveys to address central problems in galactic structure and the astrophysics of molecular clouds. These problems included the nature of the molecular ring and its relation to the spiral arms and central bar, the cosmic ray distribution, the origin of the diffuse X-ray background, the distribution and properties of x-ray sources and supernova remnants, and the Galactic stellar mass distribution. For many of these problems, the nearby spiral M31 provided an important complementary perspective. Our CO surveys of GMCs (Galactic Molecular Clouds) were crucial for interpreting Galactic continuum surveys from satellites such as GRO (Gamma Ray Observatory), ROSAT (Roentgen Satellite), IRAS (Infrared Astronomy Satellite), and COBE (Cosmic Background Explorer Satellite) because they provided the missing dimension of velocity or kinematic distance. GMCs are a well-defined and widespread population of objects whose velocities we could readily measure throughout the Galaxy. Through various emission and absorption mechanisms involving their gas, dust, or associated Population I objects, GMCs modulate the galactic emission in virtually every major wavelength band. Furthermore, the visibility. of GMCs at so many wavelengths provided various methods of resolving the kinematic distance ambiguity for these objects in the inner Galaxy. Summaries of our accomplishments in each of the major wavelength bands discussed in our original proposal are given

Thaddeus, Patrick↗

Frequency-Weighting Filter Selection, for H2 Control of Microgravity Isolation Systems: A Consideration of the "Implicit Frequency Weighting" Problem

Many space-science experiments need an active isolation system to provide them with the requisite microgravity environment. The isolation systems planned for use with the International Space Station (ISS) have been appropriately modeled using relative position, relative velocity, and acceleration states. In theory, frequency-weighting design filters can be applied to these state-space models, in order to develop optimal H2 or mixed-norm controllers with desired stability and performance characteristics. In practice, however, since there is a kinematic relationship among the various states, any frequency weighting applied to one state will implicitly weight other states. These implicit frequency-weighting effects must be considered, for intelligent frequency-weighting filter assignment. This paper suggests a rational approach to the assignment of frequency-weighting design filters, in the presence of the kinematic coupling among states that exists in the microgravity vibration isolation problem.

Hampton, Roy David↗

Evidence of a Supermassive Black Hole in the Galaxy NGC 1023 From The Nuclear Stellar Dynamics

We analyze the nuclear stellar dynamics of the SBO galaxy NGC 1023, utilizing observational data both from the Space Telescope Imaging Spectrograph aboard the Hubble Space Telescope and from the ground. The stellar kinematics measured from these long-slit spectra show rapid rotation (V equals approx. 70 km/s at a distance of O.1 deg = 4.9 pc from the nucleus) and increasing velocity dispersion toward the nucleus (where sigma = 295 +/- 30 km/s). We model the observed stellar kinematics assuming an axisymmetric mass distribution with both two and three integrals of motion. Both modeling techniques point to the presence of a central dark compact mass (which presumably is a supermassive black hole) with confidence > 99%. The isotropic two-integral models yield a best-fitting black hole mass of (6.0 +/- 0.4) x 10(exp 7) solar masses and mass-to-light ratio (M/L(sub v)) of 5.38 +/- 0.08, and the goodness-of-fit (CHI(exp 2)) is insensitive to reasonable values for the galaxy's inclination. The three-integral models, which non-parametrically fit the observed line-of-sight velocity distribution as a function of position in the galaxy, suggest a black hole mass of (3.9 +/- 0.4) x 10(exp 7) solar masses and M/L(sub v) of 5.56 +/- 0.02 (internal errors), and the edge-on models are vastly superior fits over models at other inclinations. The internal dynamics in NGC 1023 as suggested by our best-fit three-integral model shows that the velocity distribution function at the nucleus is tangentially anisotropic, suggesting the presence of a nuclear stellar disk. The nuclear line of sight velocity distribution has enhanced wings at velocities >= 600 km/s from systemic, suggesting that perhaps we have detected a group of stars very close to the central dark mass.

Bower, G. A.↗

Stereo Imaging Velocimetry of Mixing Driven by Buoyancy Induced Flow Fields

Mixing of two fluids generated by steady and particularly g-jitter acceleration is fundamental towards the understanding of transport phenomena in a microgravity environment. We propose to carry out flight and ground-based experiments to quantify flow fields due to g-jitter type of accelerations using Stereo Imaging Velocimetry (SIV), and measure the concentration field using laser fluorescence. The understanding of the effects of g-jitter on transport phenomena is of great practical interest to the microgravity community and impacts the design of experiments for the Space Shuttle as well as the International Space Station. The aim of our proposed research is to provide quantitative data to the community on the effects of g-jitter on flow fields due to mixing induced by buoyancy forces. The fundamental phenomenon of mixing occurs in a broad range of materials processing encompassing the growth of opto-electronic materials and semiconductors, (by directional freezing and physical vapor transport), to solution and protein crystal growth. In materials processing of these systems, crystal homogeneity, which is affected by the solutal field distribution, is one of the major issues. The understanding of fluid mixing driven by buoyancy forces, besides its importance as a topic in fundamental science, can contribute towards the understanding of how solutal fields behave under various body forces. The body forces of interest are steady acceleration and g-jitter acceleration as in a Space Shuttle environment or the International Space Station. Since control of the body force is important, the flight experiment will be carried out on a tunable microgravity vibration isolation mount, which will permit us to precisely input the desired forcing function to simulate a range of body forces. To that end, we propose to design a flight experiment that can only be carried out under microgravity conditions to fully exploit the effects of various body forces on fluid mixing. Recent flight experiments, by the P.I. through collaboration with the Canadian Space Agency (STS-85, August 1997), aimed at determining the stability of the interface between two miscible liquids inside an enclosure show that a long liquid column (5 cm) under microgravity isolation conditions can be stable, i.e. the interface remains sharp and vertical over a short time scale; thus transport occurs by molecular mass diffusion. On the other hand, when the two liquids were excited from a controlled vibration source (Microgravity Vibration Isolation Mount) two to four mode large amplitude quasi-stationary waves were observed. The data was limited to CCD recording of the dynamics of the interface between the two fluids. We propose to carry out flight experiments to quantify the dynamics of the flow field using Stereo Imaging Velocimetry and measure the concentration field using laser fluorescence. The results will serve as a basis to understand effects of g-jitter on transport phenomena, in this case mass diffusion. As the measurement of the kinematics of the flow field will shed light on the instability mechanism. The research will allow measurement of the flow field in microgravity environment to prove two hypotheses: (1) Maxwell's hypothesis: finite convection always exists in diffusing systems, and (2) Quasi-stationary waves inside a bounded enclosure in a microgravity environment is generated by Kelvin-Helmholtz instability; resonance of the interface which produces incipient mixing is due to Rayleigh-Taylor instability. The first hypothesis can be used as a benchmark experiment to illustrate diffusive mixing. The second hypothesis will lead to the understanding of g-jitter effects on buoyancy driven flow fields which occur in many situations involving materials processing, and other basic fluid physics phenomena. In addition, the second hypothesis will also provide insight in how Rayleigh-Taylor and Kelvin-Helmholtz instabilities propagate concentration fronts during mixing. Measurement of the flow field using SIV is important because it is the flow field which causes instability at the interface between the two fluids. Mixing driven by buoyancy induced flow fields will be addressed both experimentally and computationally. The experimental effort will address the kinematics of mixing: stretching, transport and chaos. Quantification of the mechanisms of mixing will consists of measuring the flow field using the SIV system at Glenn and capturing the dynamics of the interface, to measure mass transport, using a CCD camera. These experiments will be carried out within the framework of Earth's gravity and g-jitter microgravity acceleration as in a Space Shuttle environment or the International Space Station. The g-jitter will be induced and controlled using a tunable vibration isolation platform to isolate against vibration as well as input periodic and random vibration to the system. The parametric range of the microgravity experiment will be extended from the experiments on STS-85 to investigate higher mode quasi-stationary waves (8 to 12), as well as resonance regions which leads to chaos and turbulence. Ground-based experiments will focus on effects of vibration on stably stratified fluid layers in order to scale for possible scenarios in a microgravity environment. These vibrations will be subjected perpendicular to the concentration field on the ground since the parallel case can only be carried out in a microgravity environment. The concept of dynamical similarity will be applied to tune the experiments as closely as possible to a Space Shuttle environment or the International Space Station. The computational effort will take advantage of the Computational Laboratory at Glenn to corroborate the experimental findings with predictions of the dynamics of the flow field using the codes FLUENT (finite difference based) and FIDAP (finite element based). We will investigate two important cases, single-fluid model to address dilute systems with negligible jump in viscosity and the more general two-fluid model which accounts for finite jump in viscosity. Apart from its microgravity relevance, this experiment is well suited to study dynamics in nonlinear systems.

Duval, W. M. B.↗

Frequency-Weighting Filter Selection for H2 Control of Microgravity Isolation Systems: A Consideration of the "Implicit Frequency Weighting" Problem

Many space-science experiments need an active isolation system to provide them with the requisite microgravity environment. The isolation system planned for use with the International Space Station (ISS) have been appropriately modeled using relative position, relative velocity, and acceleration states. In theory, frequency-weighting design filters can be applied to them state-space models, In order to develop optimal H2 or mixed-norm controllers with desired stability and performance characteristics. In practice. however, since there Is a kinematic relationship among the various states. any frequency weighting applied to one state will implicitly weight other states. These implicit frequency-weighting effects must be considered, for intelligent frequency-weighting filter assignment. This paper suggests a rational approach to the assignment of frequency-weighting design filters, in the presence of the kinematic coupling among states that exists in the microgravity vibration isolation problem.

Hampton, R. David↗

Behavior of Three Metallic Alloys Under Combined Axial-Shear Stress at 650 C

Three materials, Inconel 718, Haynes 188, and 316 stainless steel, were tested under an axial-torsional stress state at 650 C. The objective of this study was to quantify the evolution of the material while in the viscoplastic domain. Initial and subsequent yield surfaces were experimentally determined to quantify hardening. Subsequent yield surfaces (yield surfaces taken after a preload) had a well-defined front side, in the prestrain direction, but a poorly defined back side, opposite the prestrain direction. Subsequent yield surfaces exhibited isotropic hardening by expansion of the yield surface, kinematic hardening by translation of the yield surface, and distortional hardening by flattening of the yield surface in the direction opposite to the last prestrain. An existing yield function capable of representing isotropic, kinematic, and distortional hardening was used to fit each yield surface. Four variables are used to describe each surface. These variables evolve as the material state changes and have been regressed to the yield surface data.

Colaiuta, Jason F.↗

Modelling Greenland Outlet Glaciers

The objective of this project was to develop simple yet realistic models of Greenland outlet glaciers to better understand ongoing changes and to identify possible causes for these changes. Several approaches can be taken to evaluate the interaction between climate forcing and ice dynamics, and the consequent ice-sheet response, which may involve changes in flow style. To evaluate the icesheet response to mass-balance forcing, Van der Veen (Journal of Geophysical Research, in press) makes the assumption that this response can be considered a perturbation on the reference state and may be evaluated separately from how this reference state evolves over time. Mass-balance forcing has an immediate effect on the ice sheet. Initially, the rate of thickness change as compared to the reference state equals the perturbation in snowfall or ablation. If the forcing persists, the ice sheet responds dynamically, adjusting the rate at which ice is evacuated from the interior to the margins, to achieve a new equilibrium. For large ice sheets, this dynamic adjustment may last for thousands of years, with the magnitude of change decreasing steadily over time as a new equilibrium is approached. This response can be described using kinematic wave theory. This theory, modified to pertain to Greenland drainage basins, was used to evaluate possible ice-sheet responses to perturbations in surface mass balance. The reference state is defined based on measurements along the central flowline of Petermann Glacier in north-west Greenland, and perturbations on this state considered. The advantage of this approach is that the particulars of the dynamical flow regime need not be explicitly known but are incorporated through the parameterization of the reference ice flux or longitudinal velocity profile. The results of the kinematic wave model indicate that significant rates of thickness change can occur immediately after the prescribed change in surface mass balance but adjustments in flow rapidly diminish these rates to a few cm/yr at most. The time scale for adjustment is of the order of a thousand years or so.

vanderVeen, Cornelis↗

Far Ultraviolet Spectroscopic Explorer Observations of the Seyfert 1.5 Galaxy NGC 5548 in a Low State

We present far-ultraviolet spectra of the Seyfert 1.5 galaxy NGC 5548 obtained in 2000 June with the Far Ultraviolet Spectroscopic Explorer (FUSE). Our data span the observed wavelength range 915-1185 A at a resolution of approximately 20 km s(exp -1). The spectrum shows a weak continuum and emission from O VI (lambda)(lambda)1032, 1038, C III (lambda)977, and He II (lambda)1085. The FUSE data were obtained when the AGN (Active Galactic Nuclei) was in a low state, which has revealed strong, narrow O VI emission lines. We also resolve intrinsic, associated absorption lines of O VI and the Lyman series. Several distinct kinematic components are present, spanning a velocity range of approximately 0 to -1300 km s(exp -1) relative to systemic, with kinematic structure similar to that seen in previous observations of longer wavelength ultraviolet (UV) lines. We explore the relationships between the far-UV (ultraviolet) absorbers and those seen previously in the UV and X-rays. We find that the high-velocity UV absorption component is consistent with being low-ionization, contrary to some previous claims, and is consistent with its non-detection in high-resolution X-ray spectra. The intermediate velocity absorbers, at -300 to -400 km s(exp -1), show H I and O VI column densities consistent with having contributions from both a high-ionization X-ray absorber and a low-ionization UV absorber. No single far-UV absorbing component can be solely identified with the X-ray absorber.

Brotherton, M. S.↗

Integrated INS/GPS Navigation from a Popular Perspective

Inertial navigation, blended with other navigation aids, Global Positioning System (GPS) in particular, has gained significance due to enhanced navigation and inertial reference performance and dissimilarity for fault tolerance and anti-jamming. Relatively new concepts based upon using Differential GPS (DGPS) blended with Inertial (and visual) Navigation Sensors (INS) offer the possibility of low cost, autonomous aircraft landing. The FAA has decided to implement the system in a sophisticated form as a new standard navigation tool during this decade. There have been a number of new inertial sensor concepts in the recent past that emphasize increased accuracy of INS/GPS versus INS and reliability of navigation, as well as lower size and weight, and higher power, fault tolerance, and long life. The principles of GPS are not discussed; rather the attention is directed towards general concepts and comparative advantages. A short introduction to the problems faced in kinematics is presented. The intention is to relate the basic principles of kinematics to probably the most used navigation method in the future-INS/GPS. An example of the airborne INS is presented, with emphasis on how it works. The discussion of the error types and sources in navigation, and of the role of filters in optimal estimation of the errors then follows. The main question this paper is trying to answer is 'What are the benefits of the integration of INS and GPS and how is this, navigation concept of the future achieved in reality?' The main goal is to communicate the idea about what stands behind a modern navigation method.

Omerbashich, Mensur↗

Flow Trajectories in Friction Stir Welding

In the Friction Stir Welding (FSW) process, a rotating, shouldered tool with a threaded pin is inserted under pressure along the seam of two pieces of metal which are tightly clamped together, and secured against a rigid anvil underneath. The rotating pin travels along the seam and through a combination of pressure and friction heating produces a zone of plastic deformation around the pin within the workpiece on either side of the seam. As the pin is moved in the direction of welding, the plasticised material moves around the tool and bonds together behind it. The elements of the material flow behavior are a combination of three elements. There is a rotational transport of material being carried around the tool, extrusion of material being forced around the pin on both sides into the cavity created behind it, and a lifting and dropping of material as it is stirred and mixed by the rotating action of the pin. It was assumed that rotational motion of the plastic zone is the primary mechanism for transport of material around the welding tool. A kinematic mathematical model was used to compute trajectories of material movement for various distributions of rotational slip within the plastic zone. These trajectories were then compared with the results of an experiment that produced radiographs of markers embedded in a workpiece that was welded with the FSW process. It was assumed that the copper wire markers retained their original length as the aluminum material flowed around them. The kinematic model included a constraint so that the displacements were such that the total length of the wire markers did not increase after deformation. There was good agreement between the calculated trajectories for the case of localized slip at the outer surface of the plastic deformation zone and the radiographs of the copper wire markers. The trajectories differed markedly from the radiograph traces when a distributed slip zone was assumed. It was concluded that the flow field could be described generally by a rotating plug model with slip occurring on the surface at the outer boundary of the plastic zone.

Bernstein, Edward L.↗

PSR J1740+1000: A Young Pulsar Well Out of the Galactic Plane

We discuss PSR J1740 + 1000, one of five pulsars recently discovered in a search of 470 deg at 430 MHz during the upgrade of the 305 m Arecibo Telescope. The period P = 154 ms and period derivative P = 2.1 x 10(exp -14) s s(exp -1) imply a spin-down age tau(sub s) = P/2P = 114 kyr that is smaller than 95% of all known pulsars. The youth and proximity of this pulsar make it a good candidate for detection at X-ray and gamma-ray energies. Its high Galactic latitude (b = 20.4 deg) suggests a very high velocity if the pulsar was born in the midplane of the Galaxy and if its kinematic age equals its spin-down age. Interstellar scintillations, however, suggest a much lower velocity. We discuss possible explanations for this discrepancy, taking into account (1) possible birth sites away from the midplane; (2) contributions from the unmeasured radial velocity; (3) a kinematic age different from the spin-down age; and (4) biasing of the scintillation velocity by enhanced scattering from the North Polar Spur.

McLaughlin, M. A.↗

The Solar-Sail Launched Interstellar Probe: Pre-Perihelion Trajectories and Application of Holography

Design of missions beyond our solar system presents many challenges. Here, we consider certain aspects of the solar-sail launched interstellar probe (ISP), a spacecraft slated for launch in the 2010 time period that is planned to reach the heliopause, at 200 Astronomical Units (AU) from the Sun after a flight of about 20-years duration. The baseline mission under consideration by NASA / JPL has a sail radius of 200 m, a science payload of 25 kg, a spacecraft areal mass thickness of about two grams per square meter and is accelerated out of the solar system at about 14 AU per year after performing a perihelion pass of about 0.25 AU. In current plans, the sail is to be dropped near Jupiter's orbit (5.2 AU from the Sun) on the outbound trajectory leg. One aspect of this study is application of a realistic model of sail thermo-optics to sail kinematics that includes diffuse / specular reflectance and sail roughness. The effects of solar-wind degradation of sail material, based on recent measurements at the NASA MSFC (Marshall Space Flight Center) Space Environment Facility were incorporated in the kinematical model. After setting initial and final conditions for the spacecraft, trajectory was optimized using the provision of variable sail aspect angle. The second phase of the study included consideration of rainbow holography as a medium for a message plaque that would be carried aboard the ISP in the spirit of the message plaques aboard Pioneer 10 /11 and Voyager 1 /2. A prototype holographic message plaque was designed and created by artist C. Bangs with the assistance of Ana Maria Nicholson and Dan Schweitzer of the Center for Holographic Arts in Long Island City, NY. The piece was framed by Simon Liu Inc. of Brooklyn, NY. Concurrent to the creation of the prototype message plaque, we explored the potential of this medium to transmit large amounts of visual information to any extraterrestrial civilization that might detect and intercept ISP. It was also necessary to investigate possible degradation of holograms by the space environment. We developed a new way of characterizing the optical quality of holograms.

Gregory L. Matloff↗

Application of Core Dynamics Modeling to Core-Mantle Interactions

Observations have demonstrated that length of day (LOD) variation on decadal time scales results from exchange of axial angular momentum between the solid mantle and the core. There are in general four core-mantle interaction mechanisms that couple the core and the mantle. Of which, three have been suggested likely the dominant coupling mechanism for the decadal core-mantle angular momentum exchange, namely, gravitational core-mantle coupling arising from density anomalies in the mantle and in the core (including the inner core), the electromagnetic coupling arising from Lorentz force in the electrically conducting lower mantle (e.g. D-layer), and the topographic coupling arising from non-hydrostatic pressure acting on the core-mantle boundary (CMB) topography. In the past decades, most effort has been on estimating the coupling torques from surface geomagnetic observations (kinematic approach), which has provided insights on the core dynamical processes. In the meantime, it also creates questions and concerns on approximations in the studies that may invalidate the corresponding conclusions. The most serious problem is perhaps the approximations that are inconsistent with dynamical processes in the core, such as inconsistencies between the core surface flow beneath the CMB and the CMB topography, and that between the D-layer electric conductivity and the approximations on toroidal field at the CMB. These inconsistencies can only be addressed with numerical core dynamics modeling. In the past few years, we applied our MoSST (Modular, Scalable, Self-consistent and Three-dimensional) core dynamics model to study core-mantle interactions together with geodynamo simulation, aiming at assessing the effect of the dynamical inconsistencies in the kinematic studies on core-mantle coupling torques. We focus on topographic and electromagnetic core-mantle couplings and find that, for the topographic coupling, the consistency between the core flow and the CMB topography is critical for correct evaluation of the coupling torque.

Kuang, Weijia↗

Black Holes Masses in Seyfert Galaxies

There is increasing evidence for the existence of supermassive black holes at the centers of all galaxies, and much work is being devoted to understand the process that lead to their formation, the duty cycle for the active phase of these black holes and the relevant fueling mechanisms. Seyfert galaxies determined by HST high spatial resolution observations of the kinematics of the central regions. The study of the gas kinematics provides a unique tool to probe the gravitational potential of the nuclear regions of Seyfert galaxies down to a limit radius of a few parsecs. This is particularly important to detect and measure the mass associated with any central massive black hole. We have obtained high spatial resolution spectra of a number of Seyfert galaxies, with the STIS G430M and G750M gratings, and we have been able to separate the emission line components associated with different velocity systems. We have derived two-dimensional velocity fields and determined the mass of the central black hole with good precision for each of the galaxies.

Macchetto, F. D.↗

A Low Mass Translation Mechanism for Planetary FTIR Spectrometry using an Ultrasonic Piezo Linear Motor

One of the key components of a Fourier Transform Infrared Spectrometer (FTIR) is the linear translation stage used to vary the optical path length between the two arms of the interferometer. This translation mechanism must produce extremely constant velocity motion across its entire range of travel to allow the instrument to attain high signal-to-noise ratio and spectral resolving power. A new spectrometer is being developed at the Jet Propulsion Laboratory under NASA s Planetary Instrument Definition and Development Program (PIDDP). The goal of this project is to build upon existing spaceborne FTIR spectrometer technology to produce a new instrument prototype that has drastically superior spectral resolution and substantially lower mass, making it feasible for planetary exploration. In order to achieve these goals, Alliance Spacesystems, Inc. (ASI) has developed a linear translation mechanism using a novel ultrasonic piezo linear motor in conjunction with a fully kinematic, fault tolerant linear rail system. The piezo motor provides extremely smooth motion, is inherently redundant, and is capable of producing unlimited travel. The kinematic rail uses spherical Vespel(R). rollers and bushings, which eliminates the need for wet lubrication, while providing a fault tolerant platform for smooth linear motion that will not bind under misalignment or structural deformation. This system can produce velocities from 10 - 100 mm/s with less than 1% velocity error over the entire 100-mm length of travel for a total mechanism mass of less than 850 grams. This system has performed over half a million strokes under vacuum without excessive wear or degradation in performance. This paper covers the design, development, and testing of this linear translation mechanism as part of the Planetary Atmosphere Occultation Spectrometer (PAOS) instrument prototype development program.

Heverly, Matthew↗

Identifying head-trunk and lower limb contributions to gaze stabilization during locomotion

The goal of the present study was to determine how the multiple, interdependent full-body sensorimotor subsystems respond to a change in gaze stabilization task constraints during locomotion. Nine subjects performed two gaze stabilization tasks while walking at 6.4 km/hr on a motorized treadmill: 1) focusing on a central point target; 2) reading numeral characters; both presented at 2 m in front at the level of their eyes. While subjects performed the tasks we measured: temporal parameters of gait, full body sagittal plane segmental kinematics of the head, trunk, thigh, tibia and foot, accelerations along the vertical axis at the head and the tibia, and the vertical forces acting on the support surface. We tested the hypothesis that with the increased demands placed on visual acuity during the number recognition task, subjects would modify full-body segmental kinematics in order to reduce perturbations to the head in order to successfully perform the task. We found that while reading numeral characters as compared to the central point target: 1) compensatory head pitch movement was on average 22% greater despite the fact that the trunk pitch and trunk vertical translation movement control were not significantly changed; 2) coordination patterns between head and trunk as reflected by the peak cross correlation between the head pitch and trunk pitch motion as well as the peak cross correlation between the head pitch and vertical trunk translation motion were not significantly changed; 3) knee joint total movement was on average 11% greater during the period from the heel strike event to the peak knee flexion event in stance phase of the gait cycle; 4) peak acceleration measured at the head was significantly reduced by an average of 13% in four of the six subjects. This was so even when the peak acceleration at the tibia and the transmission of the shock wave at heel strike (measured by the peak acceleration ratio of the head/tibia and the time lag between the tibial and head peak accelerations) remained unchanged. Taken together these results provide further evidence that the full body contributes to gaze stabilization during locomotion, and that its different functional elements can be modified online to contribute to gaze stabilization for different visual task constraints.

NASA Center JSC↗

Analysis of human postural responses to recoverable falls

We studied the kinematics and kinetics of human postural responses to "recoverable falls." To induce brief falling we used a Hold and Release (H&R) paradigm. Standing subjects actively resisted a force applied to their sternum. When this force was quickly released they were suddenly off balance. For a brief period, approximately 125 ms, until restoring forces were generated to shift the center of foot pressure in front of the center of mass, the body was in a forward fall acted on by gravity and ground support forces. We were able to describe the whole-body postural behavior following release using a multilink inverted pendulum model in a regime of "small oscillations." A three-segment model incorporating upper body, upper leg, and lower leg, with active stiffness and damping at the joints was fully adequate to fit the kinematic data from all conditions. The significance of our findings is that in situations involving recoverable falls or loss of balance the earliest responses are likely dependent on actively-tuned, reflexive mechanisms yielding stiffness and damping modulation of the joints. We demonstrate that haptic cues from index fingertip contact with a stationary surface lead to a significantly smaller angular displacement of the torso and a more rapid recovery of balance. Our H&R paradigm and associated model provide a quantifiable approach to studying recovery from potential falling in normal and clinical subjects.

NASA Discipline Space Human Factors↗

Analysis and experiments with an elephant's trunk robot

The area of tentacle and trunk type biological manipulation is not new, but there has been little progress in the development and application of a physical device to simulate these types of manipulation. Our research in this area is based on using an 'elephant trunk' robot. In this paper, we review the construction of the robot and how it compares to biological manipulators. We then apply our previously designed kinematic model to describe the kinematics of the robot. We finish by providing some examples of motion planning and intelligent manipulation using the robot.

Non-NASA Center↗