Engineering topics

Kreutz, K.

Publications and source records attributed to Kreutz, K..

7 records

NASA NTRS2017

The Spectral and Chemical Measurement of Pollutants on Snow Near South Pole, Antarctica

Remote sensing of light-absorbing particles (LAPs), or dark colored impurities, such as black carbon (BC) and dust on snow, is a key remaining challenge in cryospheric surface characterization and application to snow, ice, and climate models. We present a quantitative data set of in situ snow reflectance, measured and modeled albedo, and BC and trace element concentrations from clean to heavily fossil fuel emission contaminated snow near South Pole, Antarctica. Over 380 snow reflectance spectra (350-2500 nm) and 28 surface snow samples were collected at seven distinct sites in the austral summer season of 2014-2015. Snow samples were analyzed for BC concentration via a single particle soot photometer and for trace element concentration via an inductively coupled plasma mass spectrometer. Snow impurity concentrations ranged from 0.14 to 7000 part per billion (ppb) BC, 9.5 to 1200 ppb sulfur, 0.19 to 660 ppb iron, 0.013 to 1.9 ppb chromium, 0.13 to 120 ppb copper, 0.63 to 6.3 ppb zinc, 0.45 to 82 parts per trillion (ppt) arsenic, 0.0028 to 6.1 ppb cadmium, 0.062 to 22 ppb barium, and 0.0044 to 6.2 ppb lead. Broadband visible to shortwave infrared albedo ranged from 0.85 in pristine snow to 0.62 in contaminated snow. LAP radiative forcing, the enhanced surface absorption due to BC and trace elements, spanned from less than 1 W m(exp. -2) for clean snow to approximately 70 W m(exp. -2) for snow with high BC and trace element content. Measured snow reflectance differed from modeled snow albedo due to specific impurity-dependent absorption features, which we recommend be further studied and improved in snow albedo models.

pollution↗

NASA NTRS1989

Spatial operator algebra framework for multibody system dynamics

The Spatial Operator Algebra framework for the dynamics of general multibody systems is described. The use of a spatial operator-based methodology permits the formulation of the dynamical equations of motion of multibody systems in a concise and systematic way. The dynamical equations of progressively more complex grid multibody systems are developed in an evolutionary manner beginning with a serial chain system, followed by a tree topology system and finally, systems with arbitrary closed loops. Operator factorizations and identities are used to develop novel recursive algorithms for the forward dynamics of systems with closed loops. Extensions required to deal with flexible elements are also discussed.

Rodriguez, G.↗

NASA NTRS1989

Kinematic functions for the 7 DOF robotics research arm

The Robotics Research Model K-1207 manipulator is a redundant 7R serial link arm with offsets at all joints. To uniquely determine joint angles for a given end-effector configuration, the redundancy is parameterized by a scalar variable which corresponds to the angle between the manipulator elbow plane and the vertical plane. The forward kinematic mappings from joint-space to end-effector configuration and elbow angle, and the augmented Jacobian matrix which gives end-effector and elbow angle rates as a function of joint rates, are also derived.

Kreutz, K.↗

NASA NTRS1989

A spatial operator algebra for manipulator modeling and control

A spatial operator algebra for modeling the control and trajectory design of manipulation is discussed, with emphasis on its analytical formulation and implementation in the Ada programming language. The elements of this algebra are linear operators whose domain and range spaces consist of forces, moments, velocities, and accelerations. The effect of these operators is equivalent to a spatial recursion along the span of the manipulator. Inversion is obtained using techniques of recursive filtering and smoothing. The operator alegbra provides a high-level framework for describing the dynamic and kinematic behavior of a manipulator and control and trajectory design algorithms. Implementable recursive algorithms can be immediately derived from the abstract operator expressions by inspection, thus greatly simplifying the transition from an abstract problem formulation and solution to the detailed mechanization of a specific algorithm.

Rodriguez, G.↗

NASA NTRS1988

Recursive mass matrix factorization and inversion: An operator approach to open- and closed-chain multibody dynamics

This report advances a linear operator approach for analyzing the dynamics of systems of joint-connected rigid bodies.It is established that the mass matrix M for such a system can be factored as M=(I+H phi L)D(I+H phi L) sup T. This yields an immediate inversion M sup -1=(I-H psi L) sup T D sup -1 (I-H psi L), where H and phi are given by known link geometric parameters, and L, psi and D are obtained recursively by a spatial discrete-step Kalman filter and by the corresponding Riccati equation associated with this filter. The factors (I+H phi L) and (I-H psi L) are lower triangular matrices which are inverses of each other, and D is a diagonal matrix. This factorization and inversion of the mass matrix leads to recursive algortihms for forward dynamics based on spatially recursive filtering and smoothing. The primary motivation for advancing the operator approach is to provide a better means to formulate, analyze and understand spatial recursions in multibody dynamics. This is achieved because the linear operator notation allows manipulation of the equations of motion using a very high-level analytical framework (a spatial operator algebra) that is easy to understand and use. Detailed lower-level recursive algorithms can readily be obtained for inspection from the expressions involving spatial operators. The report consists of two main sections. In Part 1, the problem of serial chain manipulators is analyzed and solved. Extensions to a closed-chain system formed by multiple manipulators moving a common task object are contained in Part 2. To retain ease of exposition in the report, only these two types of multibody systems are considered. However, the same methods can be easily applied to arbitrary multibody systems formed by a collection of joint-connected regid bodies.

Rodriguez, G.↗

NASA NTRS1988

A spatial operator algebra for manipulator modeling and control

A powerful new spatial operator algebra for modeling, control, and trajectory design of manipulators is discussed along with its implementation in the Ada programming language. Applications of this algebra to robotics include an operator representation of the manipulator Jacobian matrix; the robot dynamical equations formulated in terms of the spatial algebra, showing the complete equivalence between the recursive Newton-Euler formulations to robot dynamics; the operator factorization and inversion of the manipulator mass matrix which immediately results in O(N) recursive forward dynamics algorithms; the joint accelerations of a manipulator due to a tip contact force; the recursive computation of the equivalent mass matrix as seen at the tip of a manipulator; and recursive forward dynamics of a closed chain system. Finally, additional applications and current research involving the use of the spatial operator algebra are discussed in general terms.

Rodriguez, G.↗

NASA NTRS1987

A run-time control architecture for the JPL telerobot

An architecture for implementing the process-level decision making for a hierarchically structured telerobot currently being implemented at the Jet Propolusion Laboratory (JPL) is described. Constraints on the architecture design, architecture partitioning concepts, and a detailed description of the existing and proposed implementations are provided.

Balaram, J.↗