Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “motion”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 1,513 records · Page 84
All sourcesNASA NTRSDOE OSTI
NASA NTRS1985

Time optimal robotic manipulator motions and work places for point to point tasks

High productivity requires that manipulators perform complex tasks quickly. Recently, optimal control algorithms have been developed which enable manipulators to move quickly, but only for simple motions. A method is presented here which combines simple time optimal motions in an optimal manner to yield the minimum time motions for an important class of complex manipulator tasks composed of point to point moves, such as assembly, electronic component insertion and spot welding. This method can also be used to design manipulator actions and work places so that tasks can be completd in minimum time. The method has been implemented in a CAD software package. Examples are presented which show the methods effectiveness.

Dubowsky, S.↗
NASA NTRS1986

Motion of a drag-free experiment on the Space Station

This paper describes the analysis and results of a study concerning the motion of a particle in a 'drag-free experiment' (zero-gravity) performed on the Space Station. Two cases were considered: (1) motion of a particle with an at rest initial condition and (2) motion of a particle with an initial velocity. In particular, this study examined the possibility of optimal solutions in terms of displacement from the initial location relative to the station center of gravity point. These solutions were of special interest since the experiment is to be performed in a constrained volume. The results of this study indicate that the total displacement may be made smaller if the particle has an initial velocity than if the particle starts from at rest initial conditions.

German, D. J.↗
NASA NTRS1986

Fragmented molecular complexes: The role of the magnetic field in feeding internal supersonic motions

A hierarchical structure for molecular complexes in their cold phase i.e., preceeding the formation of massive stars, was derived from extensive large scale CO(13)(J=1=0) observations: the mass is found to be distributed into virialized clouds which fill only a very low fraction approx. 01 of the volume of the complex and are supported against gravity by internal supersonic motions. An efficient mechanism was found to transfer kinetic energy from the orbital motions of the clouds to their internal random motions. The large perturbations of the magnetic field induced at the cloud boundaries by their interactions with their neighbors generate systems of hydromagnetic waves trapped inside the clouds. The magnetic field lines being closely coupled to the gas at the densities which prevail in the bulk of the clouds volume, internal velocity dispersion is thus generated. Some conclusions derived from this data are given.

Falgarone, E.↗
NASA NTRS1987

Equations of motion of a space station with emphasis on the effects of the gravity gradient

The derivation of the equations of motion is based upon the principle of virtual work. As developed, these equations apply only to a space vehicle whose physical model consists of a rigid central carrier supporting several flexible appendages (not interconnected), smaller rigid bodies, and point masses. Clearly evident in the equations is the respect paid to the influence of the Earth's gravity field, considerably more than has been the custom in simulating vehicle motion. The effect of unpredictable crew motion is ignored.

Tuell, L. P.↗
NASA NTRS1987

High speed, precision motion strategies for lightweight structures

Abstracts of published papers and dissertations generated during the reporting period are compiled. Work on fine motion control was completed. Specifically, real time control of flexible manipulator vibrations were experimentally investigated. A linear model based on the application of Lagrangian dynamics to a rigid body mode and a series of separable flexible modes was examined with respect to model order requirements, and modal candidate selection. State feedback control laws were implemented based upon linear quadratic regulator design. Specification of the closed loop poles in the regulator design process was obtained by inclusion of a prescribed degree of stability in the manipulator model. Work on gross motion planning and control is also summarized. A systematic method to symbolically derive the full nonlinear dynamic equations of motion of multi-link flexible manipulators was developed.

Book, Wayne J.↗
NASA NTRS1986

Vestibular system and neural correlates of motion sickness

Initial studies re-examine the role of certain central nervous system structures in the production of vestibular-induced vomiting and vomiting in general. All experiments were conducted using cats. Since these studies demonstrated that the essential role of various central structures in vestibular-induced vomiting is only poorly understood, efforts were re-directed to study the control of the effector muscles (diaphragm and abdominal muscles) that produce the pressure changes responsible for vomiting, with the goal of determining how this control mechanism is engaged during motion sickness. Experiments were conducted to localize the motoneurons that innervate the individual abdominal muscles and the portion of the diaphragm that surrounds the esophagus. A central question regarding respiratory muscle control during vomiting is whether these muscles are activated via the same brain stem pre-motor neurons that provide descending respiratory drive and/or by other descending input(s). In other experiments, the use of a combination of pitch and roll motions to produce motion sickness in unrestrained cats was evaluated. This stimulus combination can produce vomiting in only the most susceptible cats and is thus not as provacative a stimulus for cats as vertical linear acceleration.

Miller, Alan D.↗
NASA NTRS1987

High speed precision motion strategies for lightweight structures

Work during the recording period proceeded along the lines of the proposal, i.e., three aspects of high speed motion planning and control of flexible structures were explored: fine motion control, gross motion planning and control, and automation using light weight arms. In addition, modeling the large manipulator arm to be used in experiments and theory has lead to some contributions in that area. These aspects are reported below. Conference, workshop and journal submissions, and presentations related to this work were seven in number, and are listed. Copies of written papers and abstracts are included.

Book, Wayne J.↗
NASA NTRS1986

M.I.T./Canadian vestibular experiments on the Spacelab-1 mission. IV - Space motion sickness: Symptoms, stimuli, and predictability

Three cases of motion sickness that occurred on Spacelab-1 are described. The relation between head movements and symptom intensity is examined. The effects of visual, tactile, and proprioceptive orientation cues on motion sickness are studied. The effectiveness of the drugs used is evaluated and it is observed that the drugs reduce the frequency of vomiting and overall discomfort. Preflight and postflight motion sickness susceptibility data are presented.

Oman, C. M.↗
NASA NTRS1986

General autonomic components of motion sickness

This report refers to a body of investigations directed toward the examination of autonomic nervous system responses to motion sickness. Heart rate, respiration rate, finger pulse volume, and basal skin resistance were measured on 127 men and women before, during, and after exposure to a nauseogenic rotating chair test. Significant changes in all autonomic responses were observed across the tests (p less than .05). Significant differences in autonomic responses among groups divided according to motion sickness susceptibility were also observed (p less than .05). Results suggest that the examination of autonomic responses as an objective indicator of motion sickness malaise is warranted and may contribute to the overall understanding of the syndrome.

Cowings, Patricia S.↗
NASA NTRS1987

Off-line programming motion and process commands for robotic welding of Space Shuttle main engines

The off-line-programming software and hardware being developed for robotic welding of the Space Shuttle main engine are described and illustrated with diagrams, drawings, graphs, and photographs. The menu-driven workstation-based interactive programming system is designed to permit generation of both motion and process commands for the robotic workcell by weld engineers (with only limited knowledge of programming or CAD systems) on the production floor. Consideration is given to the user interface, geometric-sources interfaces, overall menu structure, weld-parameter data base, and displays of run time and archived data. Ongoing efforts to address limitations related to automatic-downhand-configuration coordinated motion, a lack of source codes for the motion-control software, CAD data incompatibility, interfacing with the robotic workcell, and definition of the welding data base are discussed.

Ruokangas, C. C.↗
NASA NTRS1987

Beaufort-Chukchi ice margin data from Seasat - Ice motion

The motion of sea ice in the summer and fall marginal zone of the Beaufort and Chukchi seas is observed by tracking ice features in sequential Seasat synthetic aperture radar images. Four examples of ice motion fields are shown and discussed with translation observation density finer than one observation per 5 km for the most part. In this region the components of proportional relative motion are shown to commonly have values in the range 0.1 to 0.25/day throughout the marginal zone, which itself has a scale of the order of 100 km.

Carsey, Frank↗
NASA NTRS1987

Magnetic field twist driven by remote convective motions: Characteristics and twist rates

It is generally believed that convective motions below the solar photosphere induce a twist in the coronal magnetic field as a result of frozen-in physics. A question of interest is how much twist can one expect from a persistent convective motion, given the fact that dissipative effects will eventually figure. This question is examined by considering a model problem: two conducting plates, with finite resistivity, are set in sheared motion and forced at constant relative speed. A resistive plasma is between the plates and an initially vertical magnetic field connects the plates. The time rate of tilt experienced by the field is obtained as a function of Hartmann number and the resistivity ratio. Both analytical and numerical approaches are considered.

Wang, Zheng-Zhi↗
NASA NTRS1987

A revised estimate of Pacific-North America motion and implications for Western North America plate boundary zone tectonics

Marine magnetic profiles from the Gulf of Californa are studied in order to revise the estimate of Pacific-North America motion. It is found that since 3 Ma spreading has averaged 48 mm/yr, consistent with a new global plate motion model derived without any data. The present data suggest that strike-slip motion on faults west of the San Andreas is less than previously thought, reducing the San Andreas discrepancy with geodetic, seismological, and other geologic observations.

Demets, Charles↗
NASA NTRS1987

Plates and their motions

Work on plate motions published in 1983-1986 and in early 1987 is reviewed. Models for these motions, including global ones for driving forces and local ones for subduction history and back-arc spreading, are addressed. The problem of reference frames, both hotspot and paleomagnetic, is discussed. The assessment of errors in plate motion studies is reviewed.

Jurdy, Donna M.↗
NASA NTRS1987

Influence of visual and motion cues on manual lateral stabilization

The ability of humans to detect and control their own lateral acceleration was measured by means of a closed-loop nulling task. Wide-field moving visual cues enhanced the operator's performance in nulling self-motion, especially at lower frequencies. Even visual cues, fixed relative to the operator, resulted in performance improvement relative to self-motion nulling in the dark. Describing function (frequency response) data was obtained for random acceleration conditions consisting of the visual field fixed relative to the laboratory, fixed relative to the subject, moving at constant velocity relative to the subject, and in the dark. The describing function data was corrected for the dynamics of operator manual control strategy. The resulting frequency responses were used to develop a linear model of self-motion detection which required a lead term of 1.5 rad/s to be added to the existing model in order to match the higher sensitivity at higher frequencies.

Huang, J.-K.↗
NASA NTRS1987

Flight simulator platform motion and air transport pilot training

The effect of a flight simulator platform motion on the performance and training of a pilot was evaluated using subjective ratings and objective performance data obtained on experienced B-727 pilots and pilots with no prior heavy aircraft flying experience flying B-727-200 aircraft simulator used by the FAA in the upgrade and transition training for air carrier operations. The results on experienced pilots did not reveal any reliable effects of wide variations in platform motion design. On the other hand, motion variations significantly affected the behavior of pilots without heavy-aircraft experience. The effect was limited to pitch attitude control inputs during the early phase of landing training.

Lee, Alfred T.↗
NASA NTRS1987

Use of the generalized transmission error in the equations of motion of gear systems

The vibratory excitation arising from a gear pair is widely recognized to be a consequence of the nonuniform transmission of motion by the gear pair. In the preceding paper in this issue, it is shown that a three-component transmission error is required to describe the nonuniform transmission of motion by bevel gears for vibration excitation characterization purposes. The expression for the three-component transmission error derived in that paper is combined in the present paper with an analysis of the mesh forces and mesh elasticity to yield an equation of constraint involving the six degree-of-freedom unknown vibratory displacements of the gear shaft centerliners, the three unknown components of the generalized force transmitted by the mesh, and the geometric deviations of the tooth running surfaces from perfect involute surfaces which are assumed known. This matrix equation can be combined with the equations of motion of a gear system to predict the vibratory response of the system to the generalized transmission error excitation arising from meshing gear pairs within the system.

Mark, W. D.↗
NASA NTRS1989

Chaotic Motion Of A Two-Link Planar Mechanism

Report discusses global instability in orbital motion of two-link planar mechanism. Principal objective, contributes to understanding of chaotic motions in robot manipulators and other deterministic mechanical systems. Discussion begins with brief review of previous studies of chaotic motion and introduces notion of orbital instability in nonlinear systems. Introduces geometric approach useful in representation of orbital instability.

Lokshin, Anatoly↗