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At least 19 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS1990

Advanced control schemes and kinematic analysis for a kinematically redundant 7 DOF manipulator

The kinematic analysis and control of a kinematically redundant manipulator is addressed. The manipulator is the slave arm of a telerobot system recently built at Goddard Space Flight Center (GSFC) to serve as a testbed for investigating research issues in telerobotics. A forward kinematic transformation is developed in its most simplified form, suitable for real-time control applications, and the manipulator Jacobian is derived using the vector cross product method. Using the developed forward kinematic transformation and quaternion representation of orientation matrices, we perform computer simulation to evaluate the efficiency of the Jacobian in converting joint velocities into Cartesian velocities and to investigate the accuracy of Jacobian pseudo-inverse for various sampling times. The equivalence between Cartesian velocities and quaternion is also verified using computer simulation. Three control schemes are proposed and discussed for controlling the motion of the slave arm end-effector.

Nguyen, Charles C.↗
NASA NTRS1989

Development of kinematic equations and determination of workspace of a 6 DOF end-effector with closed-kinematic chain mechanism

This report presents results from the research grant entitled Active Control of Robot Manipulators, funded by the Goddard Space Flight Center, under Grant NAG5-780, for the period July 1, 1988 to January 1, 1989. An analysis is presented of a 6 degree-of-freedom robot end-effector built to study telerobotic assembly of NASA hardware in space. Since the end-effector is required to perform high precision motion in a limited workspace, closed-kinematic mechanisms are chosen for its design. A closed-form solution is obtained for the inverse kinematic problem and an iterative procedure employing Newton-Raphson method is proposed to solve the forward kinematic problem. A study of the end-effector workspace results in a general procedure for the workspace determination based on link constraints. Computer simulation results are presented.

Nguyen, Charles C.↗
NASA NTRS1989

Kinematics and dynamics of a six-degree-of-freedom robot manipulator with closed kinematic chain mechanism

This paper deals with a class of robot manipulators built based on the kinematic chain mechanism (CKCM). This class of CKCM manipulators consists of a fixed and a moving platform coupled together via a number of in-parallel actuators. A closed-form solution is derived for the inverse kinematic problem of a six-degre-of-freedom CKCM manipulator designed to study robotic applications in space. Iterative Newton-Raphson method is employed to solve the forward kinematic problem. Dynamics of the above manipulator is derived using the Lagrangian approach. Computer simulation of the dynamical equations shows that the actuating forces are strongly dependent on the mass and centroid of the robot links.

Nguyen, Charles C.↗
DOE OSTI2022

The roles of kinematic constraint and diffusion in non-equilibrium solid state phase transformations of Ti-6Al-4V

A solid state phase transformation of Ti-6Al-4V was studied using high speed in situ x-ray diffraction measurements made during rapid cooling of a cold metal transfer arc weld bead deposited onto a water cooled substrate. Analysis of body centered cubic (BCC) and hexagonal close packed (HCP) lattices revealed an abrupt, nonlinear shift in the lattice parameters of both phases just after the HCP phase had nucleated. Postmortem transmission electron microscopy confirmed that V diffusion was mostly suppressed during cooling. Together, these results indicate that at this cooling rate of approximately 10 4 K/s, which is representative of cooling rates of many additive manufacturing and welding processes, kinematic coherency of the BCC–HCP interfaces gives rise to the anomalous lattice expansion and contraction behaviors of both phases during the initial nucleation and growth stages of (mostly) martensitic transformation from BCC to HCP; the role of diffusion in such lattice anomalies is shown to be minimal.

36 MATERIALS SCIENCE↗
DOE OSTI2022

Spatially resolved gas and stellar kinematics in compact starburst galaxies

The kinematics of galaxies provide valuable insights into their physics and assembly history. Kinematics are governed not only by the gravitational potential, but also by merger events and stellar feedback processes such as stellar winds and supernova explosions. We aim to identify what governs the kinematics in a sample of SDSS-selected nearby starburst galaxies, by obtaining spatially resolved measurements of the gas and stellar kinematics. We obtained near-infrared integral-field K-band spectroscopy with VLT/SINFONI for 15 compact starburst galaxies. We derived the integrated as well as spatially resolved stellar and gas kinematics. The stellar kinematics were derived from the CO absorption bands, and Paα and Brγ emission lines were used for the gas kinematics. Based on the integrated spectra, we find that the majority of galaxies have gas and stellar velocity dispersion that are comparable. A spatially resolved comparison shows that the six galaxies that deviate show evidence for a bulge or stellar feedback. Two galaxies are identified as mergers based on their double-peaked emission lines. In our sample, we find a negative correlation between the ratio of the rotational velocity over the velocity dispersion (v rot /σ) and the star formation rate surface density. We propose a scenario where the global kinematics of the galaxies are determined by gravitational instabilities that affect both the stars and gas. This process could be driven by mergers or accretion events. Effects of stellar feedback on the ionised gas are more localised and detected only in the spatially resolved analysis. The mass derived from the velocity dispersion provides a reliable mass even if the galaxy cannot be spatially resolved. The technique used in this paper is applicable to galaxies at low and high redshift with the next generation of infrared-focussed telescopes (JWST and ELT).

79 ASTRONOMY AND ASTROPHYSICS↗
NASA NTRS2011

Kinematics and Kinetics of Squat and Deadlift Exercises with Varying Stance Widths

The primary motion of squat and deadlift exercise involves flexion and extension of the hips, knees, and ankles, but each exercise can be performed with variations in stance width. These variations may result in differing kinematics and ground reaction forces (GRF), which may in turn affect joint loading. PURPOSE: The purpose of this investigation was to compare ankle, knee, and hip kinematics and kinetics of normal squat (NS), wide-stance squat (WS), normal deadlift (ND), and sumo deadlift (SD). We hypothesized that hip joint kinematics and work at each joint would differ between exercise variations. METHODS: Six subjects (3 m/3 f; 70.0 plus or minus 13.7 kg; 168 plus or minus 9.9 cm) performed each lift in normal gravity on the ground-based version of the Advanced Resistive Exercise Device (ARED) used on the International Space Station. The ARED provided resistance with a combination vacuum tube/flywheel mechanism designed to replicate the gravitational and inertial forces of free weights. Subjects completed each lift with their 10-repetition maximum load. Kinematic data were collected at 250 Hz by a 12-camera motion-capture system (Smart-D, BTS Bioengineering, Milan, Italy), and GRF data were collected at 1000 Hz with independent force platforms for each leg (Model 9261, Kistler Instruments AG, Winterhur, Switzerland). All data were captured simultaneously on a single workstation. The right leg of a single lift for each motion was analyzed. Modeling software (OpenSim 2.2.0, Simbios, Palo Alto, CA) determined joint kinematics and net positive and negative work at each lower extremity joint. Total work was found as the sum of work across all joints and was normalized by system mass. Effect sizes and their 95% confidence intervals were computed between conditions. RESULTS: Peak GRF were similar for each lift. There were no differences between conditions in hip flexion range of motion (ROM). For hip adduction ROM, there were no differences between the NS, WS, and SD. However, hip adduction ROM was greater during the NS and SD than during the ND. Hip rotation ROM was greater during the WS than during the NS and SD, and was greater during the SD than during the ND. For knee and ankle flexion ROM, the ND, WS, and SD were not different, but ROM was greater during the NS than the ND and greater during the WS than the SD. Total eccentric work was greater during the WS than the SD. Otherwise, there were no differences in eccentric or concentric work between conditions. CONCLUSIONS: Although squat and deadlift exercises consist of similar motions, there are kinematic differences between them that depend on stance width. Total eccentric and concentric work are similar for different lifts, but differing kinematics may require activation of different musculature for each variation. With respect to each condition, in the ND the ROM of each joint tended to be less, and the WS tended to trade knee motion for hip motion. PRACTICAL APPLICATIONS: Knowledge of differences in kinematics and kinetics between different squat and deadlift variations is important for coaches and rehabilitation personnel to understand when prescribing exercise. Our results suggest that each variation of the squat and deadlift should be considered a separate exercise that may induce different long-term training effects.

DeWitt, John K.↗
NASA NTRS2014

ISS Squat and Deadlift Kinematics on the Advanced Resistive Exercise Device

Visual assessment of exercise form on the Advanced Resistive Exercise Device (ARED) on orbit is difficult due to the motion of the entire device on its Vibration Isolation System (VIS). The VIS allows for two degrees of device translational motion, and one degree of rotational motion. In order to minimize the forces that the VIS must damp in these planes of motion, the floor of the ARED moves as well during exercise to reduce changes in the center of mass of the system. To help trainers and other exercise personnel better assess squat and deadlift form a tool was developed that removes the VIS motion and creates a stick figure video of the exerciser. Another goal of the study was to determine whether any useful kinematic information could be obtained from just a single camera. Finally, the use of these data may aid in the interpretation of QCT hip structure data in response to ARED exercises performed in-flight. After obtaining informed consent, four International Space Station (ISS) crewmembers participated in this investigation. Exercise was videotaped using a single camera positioned to view the side of the crewmember during exercise on the ARED. One crewmember wore reflective tape on the toe, heel, ankle, knee, hip, and shoulder joints. This technique was not available for the other three crewmembers, so joint locations were assessed and digitized frame-by-frame by lab personnel. A custom Matlab program was used to assign two-dimensional coordinates to the joint locations throughout exercise. A second custom Matlab program was used to scale the data, calculate joint angles, estimate the foot center of pressure (COP), approximate normal and shear loads, and to create the VIS motion-corrected stick figure videos. Kinematics for the squat and deadlift vary considerably for the four crewmembers in this investigation. Some have very shallow knee and hip angles, and others have quite large ranges of motion at these joints. Joint angle analysis showed that crewmembers do not return to a normal upright stance during squat, but remain somewhat bent at the hips. COP excursions were quite large during these exercises covering the entire length of the base of support in most cases. Anterior-posterior shear was very pronounced at the bottom of the squat and deadlift correlating with a COP shift to the toes at this part of the exercise. The stick figure videos showing a feet fixed reference frame have made it visually much easier for exercise personnel and trainers to assess exercise kinematics. Not returning to fully upright, hips extended position during squat exercises could have implications for the amount of load that is transmitted axially along the skeleton. The estimated shear loads observed in these crewmembers, along with a concomitant reduction in normal force, may also affect bone loading. The increased shear is likely due to the surprisingly large deviations in COP. Since the footplate on ARED moves along an arced path, much of the squat and deadlift movement is occurring on a tilted foot surface. This leads to COP movements away from the heel. The combination of observed kinematics and estimated kinetics make squat and deadlift exercises on the ARED distinctly different from their ground-based counterparts. CONCLUSION This investigation showed that some useful exercise information can be obtained at low cost, using a single video camera that is readily available on ISS. Squat and deadlift kinematics on the ISS ARED differ from ground-based ARED exercise. The amount of COP shift during these exercises sometimes approaches the limit of stability leading to modifications in the kinematics. The COP movement and altered kinematics likely reduce the bone loading experienced during these exercises. Further, the stick figure videos may prove to be a useful tool in assisting trainers to identify exercise form and make suggestions for improvements

Newby, N.↗
DOE OSTI2022

Kinematic Variables and Feature Engineering for Particle Phenomenology

Kinematic variables have been playing an important role in collider phenomenology, as they expedite discoveries of new particles by separating signal events from unwanted background events and allow for measurements of particle properties such as masses, couplings, spins, etc. For the past 10 years, an enormous number of kinematic variables have been designed and proposed, primarily for the experiments at the Large Hadron Collider, allowing for a drastic reduction of high-dimensional experimental data to lower-dimensional observables, from which one can readily extract underlying features of phase space and develop better-optimized data-analysis strategies. We review these recent developments in the area of phase space kinematics, summarizing the new kinematic variables with important phenomenological implications and physics applications. We also review recently proposed analysis methods and techniques specifically designed to leverage the new kinematic variables. As machine learning is nowadays percolating through many fields of particle physics including collider phenomenology, we discuss the interconnection and mutual complementarity of kinematic variables and machine learning techniques. We finally discuss how the utilization of kinematic variables originally developed for colliders can be extended to other high-energy physics experiments including neutrino experiments.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2021

Next-to-$\mathrm{MHV}$ Yang-Mills kinematic algebra

Kinematic numerators of Yang-Mills scattering amplitudes possess a rich Lie algebraic structure that suggest the existence of a hidden infinite-dimensional kinematic algebra. Explicitly realizing such a kinematic algebra is a longstanding open problem that only has had partial success for simple helicity sectors. In past work, we introduced a framework using tensor currents and fusion rules to generate BCJ numerators of a special subsector of NMHV amplitudes in Yang-Mills theory. Here we enlarge the scope and explicitly realize a kinematic algebra for all NMHV amplitudes. Master numerators are obtained directly from the algebraic rules and through commutators and kinematic Jacobi identities other numerators can be generated. Inspecting the output of the algebra, we conjecture a closed-form expression for the master BCJ numerator up to any multiplicity. We also introduce a new method, based on group algebra of the permutation group, to solve for the generalized gauge freedom of BCJ numerators. It uses the recently introduced binary BCJ relations to provide a complete set of NMHV kinematic numerators that consist of pure gauge.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
DOE OSTI2021

Covariant color-kinematics duality

We show that color-kinematics duality is a manifest property of the equations of motion governing currents and field strengths. For the nonlinear sigma model (NLSM), this insight enables an implementation of the double copy at the level of fields, as well as an explicit construction of the kinematic algebra and associated kinematic current. As a byproduct, we also derive new formulations of the special Galileon (SG) and Born-Infeld (BI) theory. For Yang-Mills (YM) theory, this same approach reveals a novel structure — covariant color-kinematics duality — whose only difference from the conventional duality is that 1/$\square$ is replaced with covariant 1/D 2 . Remarkably, this structure implies that YM theory is itself the covariant double copy of gauged biadjoint scalar (GBAS) theory and an F 3 theory of field strengths encoding a corresponding kinematic algebra and current. Directly applying the double copy to equations of motion, we derive general relativity (GR) from the product of Einstein-YM and F 3 theory. This exercise reveals a trivial variant of the classical double copy that recasts any solution of GR as a solution of YM theory in a curved background. Covariant color-kinematics duality also implies a new decomposition of tree-level amplitudes in YM theory into those of GBAS theory. Using this representation we derive a closed-form, analytic expression for all BCJ numerators in YM theory and the NLSM for any number of particles in any spacetime dimension. By virtue of the double copy, this constitutes an explicit formula for all tree-level scattering amplitudes in YM, GR, NLSM, SG, and BI.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
DOE OSTI2022

Tracing the outflow kinematics in Type 2 active galactic nuclei

Here, we used a sample of 577 spectra of active galactic nuclei Type 1.8-2 (z < 0.25) taken from the Sloan Digital Sky Survey to trace the influence of the outflow kinematics on the profiles of different emission lines (Hβ, [O III], Hα, [N II], [S II]). All considered lines were fitted with two Gaussian components: one that fits the core of the line, and another that fits the wings. We provide a procedure for decomposition of the Hα+[N II] wavelength band for spectra where these lines overlap. The influence of the gravitational and non-gravitational kinematics on the line components is investigated by comparing the dispersions of the line components with stellar velocity dispersion. We find that wing components of all the considered emission lines have pure non-gravitational kinematics. The core components are consistent with gravitational kinematics for the Hα, [N II], and [S II] lines, while in the [O III] there is evidence for contribution from non-gravitational kinematics. We adopted the wing components as a proxy for the outflow contribution and investigated the outflow kinematics by analysing the correlations between the widths and shifts of the wing components of different lines. For this purpose, we used the subsets in which wing components are detected in both compared lines, and can be fitted independently. We find strong correlations between wing component shifts, as well as between wing component widths of all considered lines, with the exception of the Hβ wing component width. These correlations indicate that outflow dynamics systemically affect all emission lines in the spectrum. However, it reflects with a different strength in their profiles, which is observed as different widths of the wing components. This is investigated by comparison of the mean widths of the wing components in subsets where wing components are present in all lines. The strongest outflow signature is observed in the [O III] lines, which have the broadest wing components; weaker outflow signatures are found in Hα and [N II], and the weakest is found for [S II]. These results imply that the considered lines arise in different parts of an outflowing region.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2021

Planets Across Space and Time (PAST). II. Catalog and Analyses of the LAMOST–Gaia–Kepler Stellar Kinematic Properties

The Kepler telescope has discovered over 4000 planets (candidates) by searching ~200,000 stars over a wide range of distance (order of kpc) in our Galaxy. Characterizing the kinematic properties (e.g., Galactic component membership and kinematic age) of these Kepler targets (including the planet candidate hosts) is the first step toward studying Kepler planets in the Galactic context, which will reveal fresh insights into planet formation and evolution. In this paper, the second part of the Planets Across the Space and Time (PAST) series, by combining the data from the Large Sky Area Multi-Object Fiber Spectroscopic Telescope (LAMOST) and Gaia and then applying the revised kinematic methods from PAST I, we present a catalog of kinematic properties (i.e., Galactic positions, velocities, and the relative membership probabilities among the thin disk, thick disk, Hercules stream, and the halo) as well as other basic stellar parameters for 35,835 Kepler stars. Further analyses of the LAMOST–Gaia–Kepler catalog demonstrate that our derived kinematic age reveals the expected stellar activity-age trend. Furthermore, we find that the fraction of thin (thick) disk stars increases (decreases) with the transiting planet multiplicity (N {sub p} = 0, 1, 2 and 3+) and the kinematic age decreases with N {sub p}, which could be a consequence of the dynamical evolution of planetary architecture with age. The LAMOST–Gaia–Kepler catalog will be useful for future studies on the correlations between the exoplanet distributions and the stellar Galactic environments as well as ages.

47 OTHER INSTRUMENTATION↗
NASA NTRS1985

Seyfert galaxy narrow-line regions. II - Kinematic models

A class of kinematic models for the narrow-line regions of active galactic nuclei is presented. The models incorporate continuity-constrained radial flow of emitting material in a bounded, spherical geometry. They are designed to represent the narrow-line regions in as simple a manner as is consistent with current knowledge. The systematic comparison of line profiles arising from the models to the spectra in the forbidden O III lambda 5007 emission line which have been described in Paper I of this series is used as a probe of the line-emitting region kinematics: the model parameter areas of interest are identified and tested for consistency with the data. The results indicate heterogeneous kinematic conditions; the most common pattern is outflow of emitting material in a radially decelerating velocity field in the presence of distributed obscuration. However, some observed line profiles can be fitted by several model profiles from very different kinematic conditions, indicating that the information in a spatially unresolved line profile is insufficient to constrain uniquely the geometry and kinematics of the line-emitting region. Although the specific conclusions are model dependent, a predominantly radial pattern of velocities and a distribution of obscuring material are probably essential features of any successful kinematic model of the narrow-line regions.

Vrtilek, J. M.↗
NASA NTRS1990

Automatic generation of forward and inverse kinematics for a reconfigurable modular manipulator system

An algorithm is proposed for automatically generating both the forward and inverse kinematics of a serial-link N-degree-of-freedom reconfigurable manipulator (RM). Generation of the kinematic equations that govern a modular manipulator starts with geometric descriptions of the units, or modules, as well as their sequence in the manipulator. This geometric information is used to obtain the Denavit-Hartenberg (DH) parameters of an RM. The DH kinematic parameters are then used to obtain the forward kinematic transformation of the system. The problem of obtaining the inverse kinematics of RMs is addressed, and the idea of scaling an RM to automate the inverse kinematics and make the procedure as general as possible is proposed.

Kelmar, Laura↗
NASA NTRS1991

Kinematics of the six-degree-of-freedom force-reflecting Kraft Master

Presented here are kinematic equations for a six degree of freedom force-reflecting hand controller. The forward kinematics solution is developed and shown in simplified form. The Jacobian matrix, which uses terms from the forward kinematics solution, is derived. Both of these kinematic solutions require joint angle inputs. A calibration method is presented to determine the hand controller joint angles given the respective potentiometer readings. The kinematic relationship describing the mechanical coupling between the hand and controller shoulder and elbow joints is given. These kinematic equations may be used in an algorithm to control the hand controller as a telerobotic system component. The purpose of the hand controller is two-fold: operator commands to the telerobotic system are entered using the hand controller, and contact forces and moments from the task are reflected to the operator via the hand controller.

Williams, Robert L., II↗
NASA NTRS2014

Kinematic Modeling of Separation Compression for Paired Approaches to Closely-Spaced Parallel Runways

In a simultaneous paired approach to closely-spaced parallel runways, a pair of aircraft flies in close proximity on parallel approach paths. The longitudinal separation between the aircraft must be maintained within a range that avoids wake encounters and, if one of the aircraft blunders, avoids collision. To increase operational availability, the approach procedure must accommodate a mixture of aircraft sizes and, consequently, approach speeds. In these procedures, the slower aircraft is placed in the lead position. The faster aircraft maintains separation from the slow aircraft in a dependent operation until final approach and flies independently afterward. Due to the higher approach speed of the fast aircraft, longitudinal separation will decrease during final approach. Therefore, the fast aircraft must position itself before the final approach so that it will remain within the safe range of separation as separation decreases. Given the approach geometry and speed schedule for each aircraft, one can use kinematics to estimate the separation loss between a pair of aircraft. A kinematic model can complement fast-time Monte-Carlo simulations of the approach by enabling a tailored reduction in the variation of starting position for the fast aircraft. One could also implement the kinematic model in ground-based or on-board decision support tools to compute the optimal initial separation for a given pair of aircraft. To better match the auto-coupled flight of real aircraft, the paper derives a kinematic model where the speed schedule is flown using equivalent airspeed. The predicted time of flight using the equivalent airspeed kinematic model compares well against a high-fidelity aircraft simulation performing the same approach. This model also demonstrates a modest increase in the predicted loss of separation when contrasted against a kinematic model that assumes the scheduled speed is true airspeed.

Madden, Michael M.↗
DOE OSTI2021

The kinematic properties of Milky Way stellar halo populations

ABSTRACT In the Gaia era, stellar kinematics are extensively used to study Galactic halo stellar populations, to search for halo structures, and to characterize the interface between the halo and hot disc populations. We use distribution function-based models of modern data sets with 6D phase space data to qualitatively describe a variety of kinematic spaces commonly used in the study of the Galactic halo. Furthermore, we quantitatively assess how well each kinematic space can separate radially anisotropic from isotropic halo populations. We find that scaled action space (the ‘action diamond’) is superior to other commonly used kinematic spaces at this task. We present a new, easy to implement selection criterion for members of the radially anisotropic Gaia–Enceladus merger remnant. Assuming a 1:1 ratio of Gaia–Enceladus stars to more isotropic halo, we find our selection achieves a sample purity of 86 per cent in our models with respect to contamination from the more isotropic halo. We compare this criterion to literature criteria, finding that it produces the highest purity in the resulting samples, at the expense of a modest reduction in completeness. We also show that selection biases that underlie nearly all contemporary spectroscopic data sets can noticeably impact the E−Lz distribution of samples in a manner that may be confused for real substructure. We conclude by providing recommendations for how authors should use stellar kinematics in the future to study the Galactic stellar halo.

79 ASTRONOMY AND ASTROPHYSICS↗
NASA NTRS2014

Kinematic Evolution of Simulated Star-Forming Galaxies

Recent observations have shown that star-forming galaxies like our own Milky Way evolve kinematically into ordered thin disks over the last approximately 8 billion years since z = 1.2, undergoing a process of "disk settling." For the first time, we study the kinematic evolution of a suite of four state of the art "zoom in" hydrodynamic simulations of galaxy formation and evolution in a fully cosmological context and compare with these observations. Until now, robust measurements of the internal kinematics of simulated galaxies were lacking as the simulations suffered from low resolution, overproduction of stars, and overly massive bulges. The current generation of simulations has made great progress in overcoming these difficulties and is ready for a kinematic analysis. We show that simulated galaxies follow the same kinematic trends as real galaxies: they progressively decrease in disordered motions (sigma(sub g)) and increase in ordered rotation (V(sub rot)) with time. The slopes of the relations between both sigma(sub g) and V(sub rot) with redshift are consistent between the simulations and the observations. In addition, the morphologies of the simulated galaxies become less disturbed with time, also consistent with observations. This match between the simulated and observed trends is a significant success for the current generation of simulations, and a first step in determining the physical processes behind disk settling.

Evolution↗