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At least 1,549 records · Page 86

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NASA NTRS1989

Determination of joint drives for stable end-effector motion in flexible robotic systems

The prescribed tasks in high speed robotic systems are severely deteriorated because of their manipulator dynamic deflections. On the other hand conventional dynamic modeling techniques fail to reveal appropriate control forces in flexible systems. The conventional dynamic equations of motion for systems subject to kinematical constraints are modified by a new concept of control force representation. The directions of the control forces are selected such that they correspond to the joint degrees of freedom. Then the joint control forces and torques that yield unperturbed prescribed motions are solved simultaneously with the system motion. A flexible manipulator is presented to illustrate the methods proposed.

Ider, Sitki Kemal↗

NASA NTRS1990

Therapeutic effects of antimotion sickness medications on the secondary symptoms of motion sickness

In addition to nausea and vomiting, motion sickness involves slowing of brain waves, loss of performance, inhibition of gastric motility and the Sopite Syndrome. The therapeutic effects of antimotion sickness drugs on these reactions were evaluated. The subjects were rotated to the M-III end-point of motion sickness. Intramuscular (IM) medications were then administered. Side effects before and after rotation were reported on the Cornell Medical Index. Brain waves were recorded on a Grass Model 6 Electroencephalograph (EEG), and gastric emptying was studied after an oral dose of 1 mCi Technetium 99m DTPA in 10 oz. isotonic saline. An increase in dizziness and drowsiness was reported with placebo after rotation. This was not prevented by IM scopolamine 0.1 mg or ephedrine 25 mg. EEG recordings indicated a slowing of alpha waves with some thea and delta waves from the frontal areas after rotation. IM ephedine and dimenhydrinate counteracted the slowing while 0.3 mg scopolamine had an additive effect. Alterations of performance on the pursuit meter correlated with the brain wave changes. Gastric emptying was restored by IM metoclopramide. Ephedrine IM but not scopolamine is effective for some of the secondary effects of motion sickness after it is established.

Wood, C. D.↗

NASA NTRS1989

Visually guided control of self motion

A workshop entitled 'Visually Guided Control of Movement' was held at NASA Ames Research Center on June 26 - July 14, 1989. The workshop brought together individuals with diverse backgrounds related to the areas of the visual perception and control of motion. During the workshop, participants designed and conducted experiments using NASA Ames flight simulation research facilities. These studies contrasted participants' alternative theoretical approaches to the visual control of self motion. Panel members, drawn from the workshop's participants, will discuss their approaches to the study of the control of self motion and will present interpretations of the outcomes of the workshop.

Hettinger, Lawrence J.↗

NASA NTRS1990

Model for human use of motion cues in vehicular control

A feedback model for human use of motion cues in tracking and regulation tasks is offered. The motion cue model is developed as a simple extension of a structural model of the human pilot, although other equivalent dynamic representations of the pilot could be used in place of the structural model. In the structural model,it is hypothesized that proprioceptive cues and an internal representation of the vehicle dynamics allow the human to create compensation characteristics that are appropriate for the dynamics of the particular vehicle being controlled. It is shown that an additional loop closure involving motion feedback can improve the pilot/vehicle dynamics by decreasing high-frequency phase lags in the effective open-loop system transfer function. Data from a roll-attitude tracking/regulation task conducted on a moving base simulator are used to verify the modeling approach.

Hess, Ronald A.↗

NASA NTRS1990

Maximum likelihood tuning of a vehicle motion filter

This paper describes the use of maximum likelihood parameter estimation unknown parameters appearing in a nonlinear vehicle motion filter. The filter uses the kinematic equations of motion of a rigid body in motion over a spherical earth. The nine states of the filter represent vehicle velocity, attitude, and position. The inputs to the filter are three components of translational acceleration and three components of angular rate. Measurements used to update states include air data, altitude, position, and attitude. Expressions are derived for the elements of filter matrices needed to use air data in a body-fixed frame with filter states expressed in a geographic frame. An expression for the likelihood functions of the data is given, along with accurate approximations for the function's gradient and Hessian with respect to unknown parameters. These are used by a numerical quasi-Newton algorithm for maximizing the likelihood function of the data in order to estimate the unknown parameters. The parameter estimation algorithm is useful for processing data from aircraft flight tests or for tuning inertial navigation systems.

Trankle, Thomas L.↗

NASA NTRS1990

Image motion compensation for the Ultraviolet Imaging Telescope

On August 12, 1990, the Space Shuttle Columbia will carry the ASTRO-1 Spacelab payload into low earth orbit for a ten day mission. This mission will carry out ultraviolet and X-ray observations to study supernovas, galaxies, and other stellar objects. The Ultraviolet Imaging Telescope (UIT) is one of a cluster of three ultraviolet telescopes mounted on the shuttle-attached three-axis Instrument Pointing System (IPS). Shuttle disturbances such as astronaut crew motion, orbiter thruster firings, and other payload dynamic disturbances induce sufficient errors on the IPS which exceed the UIT jitter requirements. To meet the specified science objectives, an Image Motion Compensation System was designed and implemented for the ASTRO mission. This paper describes the UIT Image Motion Compensation system design and the performance improvements to be derived through use of this system.

Bauer, Frank H.↗

NASA NTRS1991

Rotary-To-Axial Motion Converter For Valve

Nearly frictionless mechanism converts rotary motion into axial motion. Designed for use in electronically variable pressure-regulator valve. Changes rotary motion imparted by motor into translation that opens and closes valve poppet. Cables spaced equidistantly around edge of fixed disk support movable disk. As movable disk rotated, cables twist, lifting it. When rotated in opposite direction, cables untwist, lowering it. Spider disk helps to prevent cables from tangling. Requires no lubrication and insensitive to contamination in fluid flowing through valve.

Reinicke, Robert H.↗

NASA NTRS1990

Microgravity and its effects on residual motions in fluids

The primary reason for conducting many materials science experiments in space is to minimize or eliminate undesirable effects that might result owing to convective motions in fluids that are driven by buoyancy effects. Of particular concern are the low frequency accelerations caused by the Earth's gravity gradient field, spacecraft attitude motions, and atmospheric drag. In order to gain a limited understanding of the effects of these accelerations, researchers calculated the Stokes' motion of a spherical particle in a fluid for various types of spacecraft attitudes. Researchers assessed the effect of slowly rotating the experimental system relative to the spacecraft in order to reduce the rate at which the particles accumulate against the container wall.

Alexander, J. Iwan D.↗

NASA NTRS1990

Spiral structure of M51: Streaming motions across the spiral arms

The atomic hydrogen (HI) and the H alpha emission line in the grand-design spiral galaxy M51 have been observed with the Westerbork Synthesis Radio Telescope and the Taurus Fabry-Perot imaging spectrometer, respectively. Across the inner spiral arms significant tangential and radial velocity gradients are detected in the H alpha emission after subtraction of the axi-symmetric component of the velocity field. The shift is positive on the inside and negative on the outside of the northern arm. Across the southern arm this situation is reversed. The direction of the shifts is such that the material is moving inward and faster compared to circular rotation in both arms, consistent with the velocity perturbations predicted by spiral density wave models for gas downstream of a spiral shock. The observed shifts amount to 20 to 30 km (s-1), corresponding to streaming motions of 60 to 90 km (s-1) in the plane of the disk (inclination angle 20 degrees). Comparable velocity gradients have also been observed by Vogel et al. in the CO emission from the inner northern arm of M51. The streaming motions in M51 are about 2 to 3 times as large as the ones found in HI by Rots in M81, and successfully modelled by Visser with a self-consistent density wave model. Researchers have not been able to detect conclusively streaming motions in the HI emission from the arms, perhaps due to the relatively poor angular resolution (approx. 15 seconds) of the HI observations.

Tilanus, R. P. J.↗

NASA NTRS1982

Equations of motion for a flexible spacecraft-lumped parameter idealization

The equations of motion for a flexible vehicle capable of arbitrary translational and rotational motions in inertial space accompanied by small elastic deformations are derived in an unabridged form. The vehicle is idealized as consisting of a single rigid body with an ensemble of mass particles interconnected by massless elastic structure. The internal elastic restoring forces are quantified in terms of a stiffness matrix. A transformation and truncation of elastic degrees of freedom is made in the interest of numerical integration efficiency. Deformation dependent terms are partitioned into a hierarchy of significance. The final set of motion equations are brought to a fully assembled first order form suitable for direct digital implementation. A FORTRAN program implementing the equations is given and its salient features described.

Storch, Joel↗

NASA NTRS1991

RW Per - Nodal motion changes its amplitude by 1.4 mag

RW Per was found to have large secular changes in its eclipse amplitude. In blue light, for example, the amplitude was 3.2 mag in the early 1900s, 2.2 mag in the late 1960s, and 1.75 mag in 1990. Throughout this time, the brightness at maximum was constant in all colors. It is shown that the only possible explanation is nodal motion, where the inclination varies with a period of roughly 100,000 yr. The nodal motion is caused by a third star, for which the light curve, the colors, and the O - C curve already provide evidence. Thus, RW Per is only the fourth known star with large changes of eclipse amplitude and is only the second example of nodal motion.

Schaefer, Bradley E.↗

NASA NTRS1991

Effects of pre-exposures to a rotating optokinetic drum on adaptation to motion sickness

The effects of two different preexposure procedures on the adaptation to motion-sickness-causing rotation motion in a rotating optokinetic drum were investigated in three groups of human subjects. The first (control) group had a standard 16-min exposure in a drum rotating at 60 deg/sec, with no preexposure. The second (incremental exposure) group had two separated 4-min preexposure periods, at 15 deg/min and 30 deg/min, immediately prior to the standard 16-min exposure. The third (abrupt exposure) group had the same preexposure but with the second rotation at 60 deg/min, followed by the standard exposure. It was found that subjects in the incremental exposure group had significantly fewer motion sickness symptoms during the standard rotation period than did the subjects in the other two groups.

Hu, Senqi↗

NASA NTRS1990

Real-time motion tracking of three-dimensional objects

The problem in which the three-dimensional motion of an object corresponding to a known polyhedral model is to be computed using only the motion of edge features in a continuous stream of two-dimensional images is considered. Advantage is taken of the spatiotemporal density of the input signal and the limitations of long-range trajectory-prediction methods are avoided. Two parallel algorithms which use feature-based, short-range (spatiotemporally local) motion processes to achieve real-time tracking of modeled objects are presented. Both algorithms have been implemented and tested on a tightly coupled multiprocessor system consisting of an Aspex Pipe for low-level, image-feature computations and a Sequent Symmetry for high-level, model-based computations. An analysis is given of the actual performance limits of each method using the current hardware configuration.

Verghese, Gilbert↗

NASA NTRS1991

Preliminary determination of Pacific-North America relative motion in the southern Gulf of California using the Global Positioning System

GPS data from experiments conducted in 1985 and 1989 in the southern Gulf of California, Mexico, allow a determination of relative motion between the Pacific and North American plates. The data indicate motion by Cabo San Lucas on the Pacific plate relative to North America at a rate of 47 + or - 7 mm/yr and azimuth of 57 + or - 6 deg west of north, equivalent within uncertainties to the NUVEL-1 global plate motion model.

Dixon, T. H.↗

NASA NTRS1991

Unsteady Navier-Stokes computations on a wing-body configuration in ramp motions

Unsteady Navier-Stokes computations are conducted for transonic flows over a wing-body configuration undergoing prescribed ramp motions. The ramp motion from 0 to 15 deg includes angles of attack where vortex breakdown is observed experimentally. The vortex breakdown is found to be delayed until after the ramp motion ends. The dynamic effects on the loads are also demonstrated. The moment coefficient is found to be sensitive to the effect of the virtual mass of the fluid. To verify the numerical results, a grid refinement study has been performed for both steady and unsteady flow conditions, by using up to approximately one million grid points. The results show that the coarse grid can give integrated quantities reasonably well, whereas the finer grids give a more detailed flow structure. Comparisons are also made with available steady-state experimental data.

Obayashi, Shigeru↗

NASA NTRS1991

Simulation evaluation of the effects of time delay and motion on rotorcraft handling qualities

A study aimed at determining the effects of simulator characteristics on perceived handling qualities is discussed. Evaluations were conducted with a baseline set of rotorcraft dynamics, using a simple transfer-function model of an uncoupled helicopter, under different conditions of visual and overall time delays. As the visual and motion parameters were changed, differences in pilot opinion were found reflecting a change in the pilots' perceptions of handling qualities, rather than changes in the aircraft model itself. It is concluded that it is necessary to tailor the motion washout dynamics to suit the task, with reduced washouts for precision maneuvering as compared to aggressive maneuvering. Visual-delay data suggest that it may be better to allow some time delay in the visual path to minimize the mismatch between visual and motion, rather than eliminate the visual delay entirely through lead compensation.

Mitchell, David G.↗

NASA NTRS1990

Generalized compliant motion task description and execution within a complete telerobotic system

A motion primitive for use in compliant motion robot task execution is described. The primitive has a rich input parameter set to provide for execution of a variety of specific tasks such as door opening, crank turning, bolt seating and turning, pushing, sliding, pin insertion/removal, and leveling, as well as termination conditions which specify conditions for ending the motion, such as allowable position and force error bounds. A split rate force control technique is used for force control. Force and torque data from a six-axis force sensor are read, and gravity compensation using load mass properties is done to determine contact forces.

Backes, Paul G.↗

NASA NTRS1991

Comparison of motion and stereo methods in passive ranging systems

The authors compare the estimates in passive ranging systems using motion and stereo approaches. It is shown that an integrated approach is necessary to provide better range estimates over a field-of-view (FOV) of interest in helicopter flight. The recursive approach for processing a sequence of stereo images, described together with a recursive motion algorithm (RMA), provides the basis for an integrated method to provide more accurate range information. Results based on motion sequences of stereo images are presented.

Sridhar, Banavar↗